Ship-borne manipulator tail end trajectory tracking coordination control method based on full-order terminal sliding mode

Abstract

The invention provides a ship-borne manipulator tail end trajectory tracking coordination control method based on a full-order terminal sliding mode. The method comprises the steps: constructing a ship-borne manipulator mathematical model; acquiring a three-degree-of-freedom unmanned ship motion model based on the mathematical model of the ship-borne manipulator in combination with an environment interference signal; integrating the uncertain interference suffered by the ship-borne manipulator mathematical model and the three-degree-of-freedom unmanned ship motion model to obtain a final ship-borne manipulator kinetic model; designing a trajectory tracking controller based on the FOTSM on the basis of the ship-borne manipulator dynamics model, including designing an unmanned ship subsystem trajectory tracking controller based on the FOTSM and a manipulator subsystem trajectory tracking controller based on the FOTSM; and adopting the obtained unmanned ship subsystem trajectory tracking controller and the manipulator subsystem trajectory tracking controller to track and control the shipborne manipulator. According to the method, the complete dynamic state of the system can be effectively reflected, and the coordination and finite time stability between the two subsystems are ensured.

Description

technical field [0001] The present invention relates to a ship-borne manipulator terminal trajectory tracking coordinated control technology, in particular, to a ship-borne manipulator terminal trajectory tracking coordinated control method based on full-order terminal sliding mode. Background technique [0002] Accurate tracking control algorithms rely on scientific system models. For the model characteristics of surface unmanned ships and tandem manipulators, it is necessary to refer to scientific modeling methods and consider the characteristics of this structure that are different from general mobile manipulator models. The traditional mobile manipulator control idea is to regard the mobile platform and the manipulator system as two separate subsystems. When the mobile platform moves, the manipulator acts as a static load. After the mobile platform moves to a certain target point, it is fixed, and the movement of the manipulator is controlled to track the end. target tra...

AI Technical Summary

Problems solved by technology

As a nonlinear multi-agent combination, the development and application of trajectory tracking control at the end of the ship-borne manipulator is hindered by the particularity of the model and the strong coupling dynamics between subsystems.

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