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Three-dimensional trajectory accurate tracking control method for underwater robot

An underwater robot, tracking control technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve problems such as inability to predict it, underwater robot deviation from the desired trajectory, etc., to reduce buffeting. Effect

Pending Publication Date: 2021-06-11
DALIAN MARITIME UNIVERSITY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] External time-varying interference is an important factor affecting the precise trajectory tracking of underwater robots. Time-varying interference is random and cannot be predicted. Severe time-varying interference may even cause underwater robots to deviate from the expected trajectory.

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  • Three-dimensional trajectory accurate tracking control method for underwater robot
  • Three-dimensional trajectory accurate tracking control method for underwater robot
  • Three-dimensional trajectory accurate tracking control method for underwater robot

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Embodiment Construction

[0144] The present invention will be further described below in conjunction with the accompanying drawings.

[0145] The present invention is based on figure 1 The coordinate system of the underwater robot shown is to establish the dynamics and kinematics equations of 5 degrees of freedom. After the overall design is completed, a desired three-dimensional trajectory curve ( figure 2 dotted line), figure 2 The solid line is the tracking of the underwater robot according to the designed controller figure 2 The curve formed by the dotted line, Figure 3-7 will be figure 2 Expand to each specific pose to track the desired rendering over time. Figure 8-12 is in Figure 3-7 Based on the difference between the actual value and the given expected value, the trajectory tracking of the underwater robot can be realized by changing the value of the control input during the process of the underwater robot tracking the expected path. Figure 13-17 The dotted line is the value of ...

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Abstract

The invention discloses a three-dimensional trajectory accurate tracking control method for an underwater robot. The method comprises the following steps of: establishing an underwater robot mathematical model; constructing a tracking error system equation; designing a nonsingular terminal sliding mode surface; designing a finite time disturbance observer; and designing a controller. The finite time disturbance observer is designed to achieve accurate estimation of external time-varying disturbance; in order to compensate disturbance, the nonsingular terminal sliding mode control method based on the finite time observer is provided, so that the influence of the time-varying disturbance on the underwater robot is compensated, and the designed controller stabilizes the tracking error to zero within a limited time; and a power reaching law is adopted, so that buffeting generated by the control method is effectively reduced. With the nonsingular terminal sliding mode control strategy based on the finite time disturbance observer adopted, the problem of accurate tracking of the underwater robot under complex multi-dimensional time-varying disturbance can be solved.

Description

technical field [0001] The invention belongs to the field of motion control of underwater robots, and in particular relates to an accurate three-dimensional trajectory tracking control method for underwater robots using a non-singular terminal sliding mode control strategy under complex disturbances. Background technique [0002] High-precision trajectory tracking control of underwater robots is a prerequisite for completing underwater tasks. However, since underwater robots are a nonlinear system with multiple inputs and multiple outputs, each degree of freedom is cross-coupled, and it is also disturbed by the surrounding environment in water. Therefore, it is particularly important to design a three-dimensional trajectory tracking controller with good performance. [0003] In order to solve the problem of time-varying interference on the 3D trajectory tracking control of underwater robots, scholars QIAO L, ZHANGW. published Double-loop chattering-free adaptive integral sli...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 赵红陈浩华王宁鲁挺白瑾珺郑忠玖何红坤
Owner DALIAN MARITIME UNIVERSITY