Unmanned ship tracking control method and system

Abstract

The invention discloses an unmanned ship tracking control method and system. The method comprises the following steps of calculating an unconstrained tracking error by adopting a preset performance function based on actual position information and expected position information, calculating a virtual control rate according to the actual position information, the expected position information and the unconstrained tracking error, and obtaining a virtual error surface and a filtering error according to the virtual control rate and a first-order low-pass filter, estimating an unknown time-varying item by adopting a radial basis function neural network to obtain an unmanned ship model, estimating the composite interference based on the unmanned ship model to obtain a composite interference estimated value, and determining a tracking control rate according to the virtual error surface, the filtering error, the unmanned ship model and the composite interference estimated value. The control rate is used for controlling trajectory tracking of the unmanned ship. The precision of tracking control of the unmanned ship can be improved.

Description

technical field [0001] The invention relates to the field of unmanned boat control, in particular to an unmanned boat tracking control method and system. Background technique [0002] In recent decades, due to the wide application of autonomous unmanned surface vessel (unmanned surface vessel, USV) in the fields of sea rescue, resource exploration, reef detection, etc., its tracking control has attracted extensive attention in the fields of marine technology, control science, etc. . [0003] The fast and accurate tracking capability of the USV control system plays an important role in practical applications such as coral reef mapping, sea replenishment, and passage through narrow waterways. Therefore, to accomplish these tasks, high control performance of USV, namely fast tracking and precise tracking, is usually required. However, USVs are usually limited by unmodeled dynamics caused by hydrodynamic damping forces and external perturbations such as waves, ocean currents, ...

AI Technical Summary

Problems solved by technology

However, USVs are usually limited by unmodeled dynamics caused by hydrodynamic damping forces and external perturbations such as waves, ocean currents, and wind, which can lead to large tracking errors and even system divergence

[0004] At present, the UAV tracking control based on event triggers has been designed without considering the uncertainty of the UAV model, external interference, the limitation of UAV tracking error, and the limitation of tracking time.

Therefore, the tracking control accuracy of the unmanned vehicle needs to be improved

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