USV path tracking control method
A control method and path tracking technology, applied in adaptive control, general control system, control/regulation system, etc., can solve problems such as sampling period constraints, and achieve the effect of ensuring reliability and stability
Pending Publication Date: 2021-12-17
HARBIN ENG UNIV
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However, in actual engineering, the sampling period of the system is constrained by hardware and cost, and cannot be infinitely small, which leads to limitations in the use of this method
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[0078] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.
[0079] combine figure 1 , the present invention comprises the following steps:
[0080] Step 1. Establish a position tracking error system in the SF coordinate system, design a finite-time sideslip angle observer on the basis of this coordinate system, and construct Realize the accurate estimation of sideslip angle and solve the problem of unmeasurable sideslip angle under complex sea conditions;
[0081] Step 1.1 Assume that the desired path takes θ as the path parameter on the horizontal plane, and the first and second derivatives exist and are bounded. In the northeast coordinate system, the coordinates of any path target tracking point on the desired path curve are marked as p(θ) =[x(θ), y(θ)] T , the real-time position of the target is p=[x, y] T , the target error value is p e =[x e ,y e ] T , define ψ(θ) as the rotation angle fr...
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The invention discloses a USV accurate path tracking control method, which comprises the following steps of 1, establishing an SF coordinate system position tracking error system, and designing a finite time sideslip angle observer to obtain a sideslip angle estimated value, 2, adopting an FLOS guide algorithm, and giving the expected heading, the expected speed and the update rate of path parameters through the sideslip angle estimated value, 3, establishing a heading dynamic error discrete control model and a longitudinal speed tracking error discrete control model, and 4, designing a heading discrete controller and a longitudinal speed discrete controller by constructing a discrete sliding mode surface and a discrete adaptive fast power reaching law, and compensating external environment force by adopting a discrete interference estimator to complete tracking of an expected heading and an expected speed under disturbance. According to the method, path tracking errors are progressively converged to zero, global asymptotic stability is achieved, the continuous fast reaching law is discretized and improved, the stability and the sampling period are decoupled, and the stability is not limited by the sampling period.
Description
technical field [0001] The invention relates to the field of unmanned vehicle (USV) motion control, and relates to a USV path tracking control method, in particular to a discrete sliding mode-based USV path tracking control method. Background technique [0002] As a high-speed surface ship, the unmanned vehicle (USV) has less hydrodynamic resistance and is more affected by wind and wave disturbance than conventional ships. At the same time, due to lateral underactuation, it is difficult to control its high-precision path tracking. At present, the methods to improve the path tracking accuracy mainly start from improving the guidance algorithm, quickly estimating the environmental disturbance and improving the control accuracy. However, most path tracking algorithms are based on continuous system design, and the control laws of unmanned ships in actual engineering are realized by digital controllers. The control law based on continuous system design directly acts on the digita...
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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 徐玉杰高嵩付明玉杨乐董李晶张国荣王俊一
Owner HARBIN ENG UNIV