Anti-saturation model-free preset performance trajectory tracking control method for autonomous surface vehicle

Abstract

The invention discloses an anti-saturation model-free preset performance trajectory tracking control method for an autonomous surface vehicle, and belongs to the technical field of unmanned surface vehicle anti-interference control. The anti-saturation model-free preset performance trajectory tracking control method for the autonomous surface vehicle comprises the following steps: step 1, establishing an unmanned surface vehicle kinetic model considering external interference; 2, establishing a saturation function model; 3, designing an anti-saturation controller independent of the model information; and 4, verifying the stability and robustness of the unmanned ship control system. By designing the error conversion equation and the saturation function model, saturation tracking control can be achieved only by adjusting the preset performance parameters, the structure is simple, the number of design parameters is small, and good applicability is achieved in the engineering aspect.

Description

technical field [0001] The invention relates to an anti-saturation model-free preset performance trajectory tracking control method of an autonomous surface vehicle, belonging to the technical field of unmanned boat anti-jamming control. Background technique [0002] In recent decades, with the increasing scarcity of terrestrial resources, the resources in the ocean have attracted more and more attention from scholars. In ocean exploration, unmanned boats can arrive at and stay on the desired trajectory within the specified time, and complete specified engineering tasks. With their low cost and high efficiency, they have excellent performance in tasks such as oil production, pipe laying, and replenishment. Therefore, Undoubtedly, the problem of tracking and control of unmanned boats has extremely high practical significance. [0003] However, with the increasing complexity of the operating environment, the design of tracking control for unmanned vehicles has become a challe...

AI Technical Summary

Problems solved by technology

On the one hand, due to the complex operating environment and the high coupling and nonlinearity of the UAV itself, it is difficult to obtain an accurate model, and thus cannot accurately track

On the other hand, due to the fact that large control deviations and tracking errors cannot be estimated when performing tasks, it is difficult for conventional adaptive control and other methods to effectively implement tracking control.

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