Quick tracking control method based on a fixed -time observation -based waters
A fixed time, tracking control technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problems of slow adjustment speed and limited control accuracy, and achieve the effect of accelerating speed adjustment
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
Method used
Image
Examples
specific Embodiment approach 1
[0023] Specific implementation mode one: this implementation mode combines figure 1 Describe this implementation scheme, the specific process of the track fast tracking control method of the surface unmanned boat based on the fixed time observer in this implementation mode is as follows:
[0024] Related key technologies
[0025] The kinematics and dynamics equations of the surface unmanned vehicle are expressed by Newton-Euler equations based on the motion of rigid bodies in fluids [3] ([3]N.Wang, X.Jin, and M.J.Er.A multilayer path planner for a USV undercomplex marine environments[J].Ocean Engineering.2019,184(1):1–10.):
[0026]
[0027] In the formula, M is the mass inertia matrix, η=[x,y,ψ] T Indicates the three-degree-of-freedom position and attitude of the surface unmanned vehicle in the horizontal plane under the fixed coordinate system, v=[u,v,r] T Indicates the velocity and angular velocity in the horizontal plane in the carrier coordinate system, J∈R 3×3 Rep...
specific Embodiment approach 2
[0042] Specific embodiment two: the difference between this embodiment and specific embodiment one is that the system model of the surface unmanned boat is established in the step one; the specific process is:
[0043] Establishment of motion equation of surface unmanned vehicle considering external interference
[0044]
[0045] In the formula, v=[u,v 0 ,r] T , v represents the velocity and angular velocity vector of the surface unmanned vehicle in the horizontal plane under the carrier coordinate system, u represents the surge velocity, v 0 represents the sway velocity, r represents the yaw rate; the superscript T represents transposition; η=[x,y,ψ] T Indicates the three-degree-of-freedom pose vector of the surface unmanned vehicle in the horizontal plane under the fixed coordinate system, x and y represent the longitudinal and lateral position coordinates of the surface unmanned vehicle under the fixed coordinate system, respectively, and ψ represents the heading angle...
specific Embodiment approach 3
[0047] Specific embodiment 3: The difference between this embodiment and specific embodiment 1 or 2 is that the fixed coordinate system O-XYZ is:
[0048] Take the sea surface or any point in the sea as the origin O, the X axis is located on the horizontal plane, and the specified true north direction is the positive direction; the Y axis is located on the horizontal plane, and the specified true east direction is the positive direction, that is, the OX axis is determined by the right hand. The OY axis is obtained by rotating 90° clockwise; the Z axis is perpendicular to the XOY coordinate plane and is positive in the direction of the center of the earth;
[0049] The carrier coordinate system O 0 -X 0 Y 0 Z 0 for:
[0050] Take the position of the center of gravity of the surface unmanned vehicle as the origin O 0 , X 0 The axis is in the longitudinal section of the surface unmanned boat, parallel to the water plane of the surface unmanned boat and the bow direction is ...
PUM
Login to View More Abstract
Description
Claims
Application Information
Login to View More