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Global fast terminal sliding mode control method based on invariant manifold observer

A terminal sliding mode and control method technology, which is applied to controllers with specific characteristics, electric controllers, etc., can solve problems such as chattering and parameter adjustment difficulties of underwater robots

Active Publication Date: 2021-09-10
SOUTH CHINA UNIV OF TECH
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  • Abstract
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Problems solved by technology

[0007] The technical problem to be solved in the present invention is to provide a global fast terminal sliding mode control method based on an invariant manifold observer, which solves the existing problems of chattering and parameter adjustment in existing underwater robots. question

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  • Global fast terminal sliding mode control method based on invariant manifold observer
  • Global fast terminal sliding mode control method based on invariant manifold observer
  • Global fast terminal sliding mode control method based on invariant manifold observer

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[0045] Below in conjunction with embodiment, the present invention is further described, but does not constitute any restriction to the present invention, anyone makes the limited number of amendments in the scope of claims of the present invention, still within the scope of claims of the present invention.

[0046] refer to figure 1 , a global fast terminal sliding mode control method based on an invariant manifold observer of the present invention, which acquires motion parameters of an underwater robot in real time. Among them, the motion parameters include the pose, speed signal and control signal of the underwater robot. Control signals include control force and moment matrices. It should be noted that during the movement of the underwater robot, the movement of the underwater robot is controlled by means of the kinematics model and the dynamics model. The kinematics model outputs speed signals, and the dynamics model outputs control signals. The kinematics model and d...

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Abstract

The invention discloses a global fast terminal sliding mode control method based on an invariant manifold observer, relates to underwater robot control, and solves the technical problems of chattering and difficult parameter adjustment of an existing underwater robot. Motion parameters of the underwater robot are analyzed through an invariant manifold observer constructed based on an invariant manifold so as to obtain observation values of system uncertainty and external interference; and a continuous control law used for controlling the underwater robot to move is obtained by analyzing the observation value through a global fast terminal sliding mode control algorithm added with a function item. According to the method, parameter adjustment is simple, the convergence speed is high, the observation error is small, the anti-interference and anti-noise performance of an underwater robot system is effectively improved, the buffeting-free characteristic is achieved, and buffeting is fundamentally eliminated.

Description

technical field [0001] The present invention relates to underwater robot control, more specifically, it relates to a global fast terminal sliding mode control method based on an invariant manifold observer. Background technique [0002] As one of the few devices that can work in the deep sea, underwater robots play an important role in the fields of marine mineral mining, scientific research fishery, sea rescue and military, and have gradually replaced personnel in underwater exploration for a long time , especially in harsh and dangerous underwater environments. The precise motion control of underwater robots is the core technology, which determines the operating accuracy and efficiency of underwater robots. The existing control algorithms include PID, fuzzy control, sliding mode control and neural network. Among them, the setting of parameters in PID control requires an accurate mathematical model; fuzzy control cannot demonstrate stability and cannot guarantee stability...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B11/42
CPCG05B11/42
Inventor 杨亚坤钟勇
Owner SOUTH CHINA UNIV OF TECH
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