Unmanned surface vessel finite time control method based on data driving

Abstract

The invention provides an unmanned surface vessel finite time control method based on data driving. The method comprises the steps that an unmanned surface vessel kinematics and dynamics data model with unknown disturbance and uncertainty in unmanned surface vessel trajectory tracking is designed; a finite time control thought is integrated into a data-driven sliding mode control technology, and a data-driven sliding mode surface based on a data model is designed, so that finite time tracking of a target trajectory of the unmanned surface vessel is realized; and a trajectory tracking control strategy of the unmanned surface vessel is designed by combining a data-driven finite time control technology. Aiming at the trajectory tracking control problem of an unknown unmanned surface vessel system in a complex environment, a data driving technology, a terminal sliding mode control technology and a finite time theory are combined, and a data driving finite time control strategy of the unmanned surface vessel system is designed. According to the strategy, the convergence speed and convergence precision of a trajectory tracking control system are ensured, and robustness to lumped disturbance and rapid and accurate trajectory tracking control independent of an unmanned surface vessel model are realized.

Description

technical field [0001] The present invention relates to the technical field of trajectory tracking control of an unmanned surface vehicle system, in particular, to a data-driven finite-time control method for an unmanned surface vehicle. Background technique [0002] In recent years, due to the use of unmanned surface vehicles (Unmanned surface vehicles, USV) to achieve a variety of complex tasks, such as autonomous ocean exploration, environmental monitoring, mission search, etc., the trajectory tracking control problem of unmanned surface vehicles is in the control group and The military field has received extensive attention. Furthermore, in order to achieve the above complex tasks, various control methods, such as sliding mode control, feedback linearization control, adaptive control, backstepping control, etc., have been applied in advanced control systems of USVs. It is worth pointing out that these control methods all require prior knowledge of the dynamic mathematic...

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Problems solved by technology

However, most of the existing terminal sliding mode control methods are based on the precise mathematical model or nominal model of the unmanned surface vehicle system to construct the controller, and do not consider the design of the terminal sliding mode controller in the case of disturbance and difficult modeling

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