Quaternion-based finite time fault-tolerant trajectory tracking control method for full-drive anti-backing-off underwater robot
An underwater robot and trajectory tracking technology, applied in the direction of non-electric variable control, height or depth control, control/regulation system, etc., can solve problems such as control system paralysis, control performance degradation, and singularity of underwater robots
Pending Publication Date: 2021-12-28
HARBIN ENG UNIV
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Problems solved by technology
The first is the system uncertainty caused by ocean current disturbances and parameter perturbations, mainly including unknown disturbance moments and time-varying inertial parameters; secondly, although Euler angles are used as a standard attitude description method, underwater robots cannot Singularity problems will inevitably occur when maneuvering at large angles; finally, due to the increasing complexity of modern underwater robots, various failures will inevitably occur that will lead to control performance degradation or even paralysis of the entire control system
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[0041] Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals designate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.
[0042] A finite-time fault-tolerant trajectory tracking control method for a full-drive anti-unwinding underwater robot based on quaternions proposed according to an embodiment of the present invention will be described below with reference to the accompanying drawings.
[0043] figure 1 It is a flow chart of a quaternion-based full-drive anti-unwinding underwater robot finite-time fault-tolerant trajectory tracking control method according to an embodiment of the present invention.
[0044] like figure 1 As shown, the quaterni...
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The invention discloses a quaternion-based finite time fault-tolerant trajectory tracking control method for a full-drive anti-backing-off underwater robot. The method comprises the following steps of establishing a quaternion-based underwater robot motion mathematical model, acquiring motion state information and a reference trajectory of the underwater robot through the underwater robot motion mathematical model, and establishing a trajectory tracking error kinetic equation, designing a nonlinear fast terminal sliding mode variable in combination with a hyperbolic tangent function, and considering unknown external disturbance and time-varying inertial parameters, and designing a self-adaptive fault-tolerant controller according to a trajectory tracking error kinetic equation and a nonlinear fast terminal sliding mode variable. According to the method, the trajectory tracking control problem of the full-drive underwater robot is solved, the influence of unknown ocean current disturbance, time-varying inertial parameters and execution mechanism faults is considered, and the underwater robot can track an expected trajectory within finite time.
Description
technical field [0001] The invention relates to the technical field of underwater robot control, in particular to a quaternion-based full-drive anti-unwinding underwater robot finite-time fault-tolerant trajectory tracking control method. Background technique [0002] Due to its good controllability, long battery life, and intelligent information processing methods, underwater robots have replaced artificial diving and provided a powerful tool for human beings to develop and utilize marine resources. With the development of multifunctional underwater robots, due to their wide application in various engineering tasks such as resource exploration, environmental monitoring, and ocean research, the further development and utilization of underwater robots undoubtedly have extremely high practical significance. [0003] It is worth noting that considering the high coupling of the overall structure of the underwater robot and the highly nonlinearity of the model, the design of an i...
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CPCG05D1/0692
Inventor 张磊黄子玚黄兵毛磊庄佳园苏玉民沈海龙
Owner HARBIN ENG UNIV