Unmanned surface vehicle control method capable of presetting control performance without intervention of auxiliary system
An auxiliary system and control performance technology, applied in general control systems, control/regulation systems, adaptive control, etc., can solve the problem of difficulty in obtaining accurate models, and achieve the effect of simple and clear operation and good anti-saturation effect.
Pending Publication Date: 2022-08-05
HARBIN ENG UNIV
View PDF0 Cites 0 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
Including: Aiming at the complex operating environment and the highly coupled and nonlinear problem of the unmanned vessel itself, it is difficult to obtain an accurate model. Auxiliary system reduces the complexity and design difficulty of the system
Aiming at the problem of actuator saturation constraints, the control output is filtered by introducing a saturation function based on the dead zone operator in the architecture, so that the controller has anti-saturation characteristics and does not affect the control effect
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0075] The present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments.
[0076] like figure 1 As shown, this paper designs a finite-time tracking control method for an underactuated UAV, including the following steps:
[0077] The first step is to establish the kinematics and dynamics model of the unmanned boat, as follows:
[0078]
[0079]
[0080] where η=[x,y,ψ] T Indicates the position and yaw angle of the UAV in the geocentric coordinate system; Represents the linear velocity and angular velocity in the body coordinate system; is the inertia matrix of the system; is an unknown nonlinear function, including hydrodynamic and model parameter disturbances; Represents the actual control output after constraints; Represents the required control input; R(ψ) is the coordinate transformation matrix, defined as follows:
[0081]
[0082] where R(ψ) itself satisfies R T (ψ)=R- 1 (ψ) and the...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
The invention provides an unmanned surface vehicle control method capable of presetting control performance without intervention of an auxiliary system. The method comprises the following steps: (1) establishing an unmanned surface vehicle kinematics and dynamics model; (2) performing preset performance control on the tracking error and determining a control target; (3) designing a model-free anti-saturation controller; and (4) verifying the stability and robustness of the unmanned ship control system. The invention provides a model-free control architecture, which gets rid of model requirements, so that uncertainty interference can be effectively resisted without introducing an auxiliary system, and the complexity and the design difficulty of the system are reduced. A saturation function based on a dead zone operator is introduced into the architecture to filter the control output, so that the controller has the anti-saturation characteristic and does not influence the control effect. A proper preset performance function is introduced into a framework to restrain a tracking error, so that transient and steady state control performance can be preset before a test is started, and then tracking control is realized.
Description
technical field [0001] The invention relates to a model-free anti-saturation tracking control algorithm for surface unmanned boats, which belongs to the technical field of self-adaptive control of surface unmanned boats. Background technique [0002] In recent decades, with the increasing demand for marine resources, the field of marine practical application has higher requirements for marine robots, among which surface unmanned boats have gradually become the focus of scholars. The trajectory tracking control of the UAV enables the UAV / UAV swarm to track a time-varying reference trajectory. The trajectory needs to satisfy both the space constraints and the time constraints, so there is often a strong coupling between the associated pose tracking control problems and velocity tracking control problems, so that when designing the controller, the unmanned vehicle needs to be considered at the same time. speed and pose, so that the complexity of the controller design is increa...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042Y02T90/00
Inventor 王巍凯黄兵苏玉民张磊朱骋周彬
Owner HARBIN ENG UNIV