Unmanned autonomous submersible vehicle track tracking control method

Through non-singular integral terminal sliding mode control and adaptive control strategies, the robustness and rapid convergence of unmanned submarine tracking in complex underwater environments are solved, and the precise track tracking of unmanned submarines in complex environments is realized, which improves the task execution efficiency.

CN120370718AInactive Publication Date: 2025-07-25JIMEI UNIV
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Patent Information

Application Number
CN202510863813.1
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2025-06-26
Publication Date
2025-07-25
Estimated Expiration
Not applicable · inactive patent

AI Technical Summary

Technical Problem

The existing unmanned submarine track tracking control methods are insufficient in complex underwater environments, and it is difficult to maintain precise track tracking when facing interference such as water flow changes, marine biological influences and submarine topography complexity.

Method used

The non-singular integral terminal sliding mode control method and adaptive control strategy are adopted to design the sliding mode surface of the non-singular integral terminal, and the gain matrix is adjusted through the sliding mode control law and the adaptive law to compensate for system uncertainty and external interference in real time, and track tracking control is performed in combination with the non-linear dynamic model.

Benefits of technology

It realizes that the unmanned submarine quickly and accurately tracks the expected tracks in complex underwater environments, with strong robustness and simplicity and easy to achieve, and improves the task execution efficiency.

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Abstract

The invention relates to a flight path tracking control method for an unmanned autonomous submersible vehicle, and belongs to the technical field of unmanned submersible vehicle control. The method comprises the following steps: firstly, establishing a nonlinear dynamic model of the submersible vehicle, analyzing kinematics and dynamic characteristics of the nonlinear dynamic model, considering various underwater forces and moments, and defining an inertial coordinate system and a submersible vehicle body coordinate system to obtain a kinematics equation and a dynamic equation so as to provide a basis for control design; secondly, a non-singular integral terminal sliding mode control method is adopted, a sliding mode surface is designed, the singular problem of traditional sliding mode control is avoided, a sliding mode control law is deduced, system finite time convergence to a balance point is achieved, and an expected state is rapidly tracked. And finally, a brand new and simple adaptive control strategy is provided, an adaptive law is designed according to system errors and sliding mode surface information, a gain matrix is adjusted in real time, and system uncertainty and external interference are compensated. The method has the advantages of being high in robustness, rapid in convergence, simple and easy to implement.
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