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Cascade control method for finite time path tracking of autonomous underwater vehicle

An underwater vehicle, limited time technology, applied in the direction of vehicle position/route/altitude control, non-electric variable control, altitude or depth control, etc., can solve the limited time cascade control that does not involve underwater vehicle path tracking and other problems, to achieve the effect of global finite time stability

Pending Publication Date: 2021-07-13
DALIAN MARITIME UNIVERSITY
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Problems solved by technology

[0005] Existing research results do not involve path-following finite-time cascade control of underwater vehicles

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  • Cascade control method for finite time path tracking of autonomous underwater vehicle
  • Cascade control method for finite time path tracking of autonomous underwater vehicle
  • Cascade control method for finite time path tracking of autonomous underwater vehicle

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Embodiment Construction

[0050] In order to make the technical solutions and advantages of the present invention more clear, the technical solutions in the embodiments of the present invention are clearly and completely described below in conjunction with the drawings in the embodiments of the present invention:

[0051]A cascade control method for finite-time path tracking of an autonomous underwater vehicle, comprising the following steps:

[0052] S1: According to the kinematic equation of autonomous underwater vehicle, establish path tracking error dynamic equation;

[0053] S2: Design a kinematic equivalent controller to transform the path tracking error dynamic equation into a new cascaded system;

[0054] S3: Carry out the limited control of the speed and heading of the autonomous underwater vehicle through the speed error subsystem and the heading error subsystem respectively, and use the obstacle Lyapunov function and the finite time control method to stabilize the cascade disturbance subsyst...

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Abstract

The invention discloses a cascade control method for finite time path tracking of an autonomous underwater vehicle, and belongs to the technical field of underwater vehicle tracking control. The method comprises the following steps: building a kinetic equation and a kinematics equation of the autonomous underwater vehicle; establishing a path tracking error dynamic equation according to a kinematics equation of the autonomous underwater vehicle; designing a virtual guidance and kinematics equivalent controller, and converting the path tracking error dynamic equation into a novel cascade system; carrying out limited control over the speed and the course of the autonomous underwater vehicle through a speed error subsystem and a course error subsystem, stabilizing a cascade disturbance subsystem through a barrier Lyapunov function and a finite time control method, and then verifying sufficient conditions for global finite time stability of a cascade system, therefore, the global finite time stability of closed-loop signals is ensured.

Description

technical field [0001] The invention relates to the technical field of tracking control of underwater vehicles, in particular to a cascade control method for limited-time path tracking of autonomous underwater vehicles. Background technique [0002] In recent years, the path tracking and trajectory tracking control of surface ships and underwater vehicles have become two important research directions of ocean engineering technology and equipment, and have attracted extensive attention from scholars. However, since path tracking is not subject to strict time constraints, and the reference path can be generated through autonomous path planning, it is more convenient for engineering applications. [0003] Nonlinear cascaded systems are an important class of nonlinear systems, and many nonlinear systems can be transformed into cascaded forms through state feedback or control design. A typical cascade system is composed of two independent subsystems and related items. One of the...

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Application Information

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IPC IPC(8): G05D1/06
CPCG05D1/0692
Inventor 梁晓玲陈子印张珍睿杨国涛
Owner DALIAN MARITIME UNIVERSITY
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