Adaptive preset performance trajectory tracking control method considering input quantization

A trajectory tracking and preset performance technology, applied in the direction of height or depth control, to achieve the effect of ensuring accuracy and simplifying the design calculation process

Pending Publication Date: 2022-04-12
HARBIN ENG UNIV
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Problems solved by technology

[0004] Aiming at the problem of trajectory tracking control of modeled hydrodynamics, ocean current disturbances, and adaptive preset performance of quantized input, an adaptive preset performance considering input quantization is proposed by using the backstepping method based on specified filter and the minimum parameter learning algorithm. The trajectory tracking control method effectively avoids the differential explosion and complex calculation problems caused by the neural network

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  • Adaptive preset performance trajectory tracking control method considering input quantization
  • Adaptive preset performance trajectory tracking control method considering input quantization
  • Adaptive preset performance trajectory tracking control method considering input quantization

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Embodiment Construction

[0121] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, not all of them; based on this The embodiments in the invention, and all other embodiments obtained by persons of ordinary skill in the art without creative efforts, all belong to the scope of protection of the present invention.

[0122] to combine Figure 1 to Figure 5 ;

[0123] An adaptive preset performance trajectory tracking control method considering input quantization:

[0124] The method comprises the steps of:

[0125] Step 1: Obtain the motion state information of the underactuated underwater vehicle through the sensor, and build a 5-degree-of-freedom mathematical model of the underactuated underwater vehicle. The mathematical model includes the kinematics and...

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Abstract

The invention provides a self-adaptive preset performance trajectory tracking control method considering input quantization. The method comprises the following steps: establishing an under-actuated underwater vehicle mathematical model; establishing a dynamic error model; performing preset performance error conversion; designing a controller; analyzing and proving stability; according to the method, unmodeled hydrodynamic force, ocean current interference and quantitative input adaptive preset performance trajectory tracking control problems are considered, a control algorithm is designed by using a backstepping method based on specified filtering and a minimum parameter learning algorithm, and the problems of differential explosion and complex calculation caused by a neural network are effectively avoided; in order to enable the tracking error to have the property of preset performance, a mapping function is applied to convert a constraint control problem into an unconstrained control problem. According to the invention, the hysteresis quantizer is adopted, so that the data transmission frequency is greatly reduced, and the quantization error is effectively reduced.

Description

technical field [0001] The invention belongs to the technical field of motion control of underwater robots, and in particular relates to an adaptive preset performance trajectory tracking control method considering input quantization. Background technique [0002] The underwater vehicle is a small underwater mission platform with autonomous operation and autonomous navigation capabilities, and it has shown potential application value in aquaculture, environmental monitoring, and ocean exploration. As an important AUV technology, trajectory tracking control can make the target track the reference trajectory to achieve satisfactory performance. [0003] The present invention utilizes the preset performance method and uses the mapping function to convert the constrained control problem into an unconstrained control problem; on this basis, the minimum parameter learning method (MLP) is used to solve the influence of unmodeled hydrodynamic forces and environmental disturbances, ...

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Application Information

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IPC IPC(8): G05D1/06
Inventor 张磊郑宇鑫黄兵毛磊刘涛庄佳园沈海龙苏玉民
Owner HARBIN ENG UNIV
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