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
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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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  • 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

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[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...

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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...

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Application Information

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