Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

A Global Fast Terminal Sliding Mode Control Method Based on Invariant Manifold Observer

A terminal sliding mode and control method technology, which can be applied to controllers with specific characteristics, electric controllers, etc., can solve problems such as chattering of underwater robots, difficulty in parameter adjustment, etc., to improve anti-interference, reduce observation errors, parameters less effect

Active Publication Date: 2022-05-27
SOUTH CHINA UNIV OF TECH
View PDF9 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

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

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • A Global Fast Terminal Sliding Mode Control Method Based on Invariant Manifold Observer
  • A Global Fast Terminal Sliding Mode Control Method Based on Invariant Manifold Observer
  • A Global Fast Terminal Sliding Mode Control Method Based on Invariant Manifold Observer

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0045] Below in conjunction with embodiment, the present invention is further described, but does not constitute any limitation to the present invention, and the limited number of modifications done by anyone in the scope of the claims of the present invention are still within the scope of the claims of the present invention.

[0046] see figure 1 , a global fast terminal sliding mode control method based on an invariant manifold observer of the present invention acquires the motion parameters of the 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 torque matrices. It should be noted that, in the process of motion, the underwater robot relies on the kinematic model and dynamic model to realize the control of the motion of the underwater robot. The kinematic model outputs the velocity signal, and the dynamics model outputs the control signal. T...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses a global fast terminal sliding mode control method based on an invariant manifold observer, relates to the control of an underwater robot, and solves the technical problems of chattering and parameter adjustment difficulties in the existing underwater robot. The motion parameters of the underwater robot are analyzed by the invariant manifold observer based on the invariant manifold to obtain the observations of system uncertainty and external disturbance; through the global fast terminal sliding mode control based on the function item The algorithm analyzes the observed values ​​to obtain the continuous control law used to control the motion of the underwater vehicle. The invention has the advantages of simple parameter adjustment, fast convergence speed and small observation error, which not only effectively improves the anti-interference and anti-noise performance of the underwater robot system, but also realizes the chatter-free characteristic and fundamentally eliminates chatter.

Description

technical field [0001] The invention relates to underwater robot control, more particularly, 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 equipments that can work in the deep sea, underwater robots play an important role in the fields of marine mineral mining, scientific research and fishery, marine rescue and military, and have gradually replaced personnel for long-term exploration underwater. , especially in the harsh and dangerous underwater environment has a more important role. The precise motion control of the underwater robot is the core technology, which determines the operation accuracy and efficiency of the underwater robot. 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 stabili...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Patents(China)
IPC IPC(8): G05B11/42
CPCG05B11/42
Inventor 杨亚坤钟勇
Owner SOUTH CHINA UNIV OF TECH
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com