Underwater robot trajectory tracking method, device, equipment and storage medium

Abstract

The present invention provides an underwater robot trajectory tracking method, device, equipment and storage medium, and relates to the field of underwater robot control technology. The method comprises: establishing a motion mathematical model of the underwater robot; determining a super-helical sliding mode control law according to the motion mathematical model, wherein the super-helical sliding mode control law is used to adjust internal parameters, and trajectory tracking control is performed according to the internal parameters, and the internal parameters include the internal adjustment parameters of the underwater robot; establishing an estimation matrix according to time delay, and establishing an adaptive generalized super-helical sliding mode control law according to the estimation matrix and the super-helical sliding mode control law, wherein the adaptive generalized super-helical sliding mode control law is used to track the trajectory of the underwater robot, so as to achieve stable tracking of the trajectory of the underwater robot.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater robot control, and in particular to an underwater robot trajectory tracking method, device, equipment and storage medium. Background Art

[0002] Autonomous Underwater Vehicle (AUV) is an unmanned intelligent system that can work independently in underwater environments. These robots have a high degree of autonomy and can perform a variety of tasks such as underwater exploration, marine scientific research, and underwater resource development. With advanced sensors and navigation systems, AUVs can adapt to complex and changing underwater environments and efficiently collect and process data.

[0003] In order to ensure the effective completion of the scheduled mission, AUVs need to integrate advanced control technologies. These technologies cover motion control, navigation, and improving the accuracy of mission execution. By using complex sensors, advanced algorithms and optimized control systems, AUV control technology not only helps to achieve precise positioning and path tracking, but also effectively cope with complex underwater environments and mission requirements.

[0004] At present, the widely used technologies in the field of AUV control include proportional-integral-derivative (PID) control and sliding mode control. The PID control method is widely used because it is simple to implement and can provide relatively satisfactory control performance in most cases; however, it has the problems of weak anti-interference ability, slow control response speed and cumbersome parameter adjustment, especially in the face of sudden disturbances. On the other hand, in practical applications, when the control trajectory approaches the sliding mode surface, the sliding mode control may cause the phenomenon of continuous crossing of the equilibrium point, affecting the control accuracy. Summary of the invention

[0005] The problem solved by the present invention is how to stably track the trajectory of an underwater robot.

[0006] In a first aspect, the present invention provides a method for tracking a trajectory of an underwater robot, comprising:

[0007] Establish a mathematical model of underwater robot movement;

[0008] Determining a super-helical sliding mode control law according to the motion mathematical model, wherein the super-helical sliding mode control law is used to adjust internal parameters, and trajectory tracking control is performed according to the internal parameters, and the internal parameters include internal adjustment parameters of the underwater robot;

[0009] An estimation matrix is ​​established according to the time delay, and an adaptive generalized super helical sliding mode control law is established according to the estimation matrix and the super helical sliding mode control law, wherein the adaptive generalized super helical sliding mode control law is used to track the trajectory of the underwater robot.

[0010] Optionally, the establishing of a mathematical model of motion of the underwater robot includes:

[0011] Establishing a six-degree-of-freedom motion model based on the velocity state vector of the underwater robot relative to the solid coordinate system, the position and direction vector relative to the inertial coordinate system, the inertia matrix, the Coriolis centripetal matrix, the hydrodynamic damping matrix, the vectors of gravity, buoyancy and torque;

[0012] Under the first preset premise, a simplified six-degree-of-freedom motion model is established to obtain the motion mathematical model.

[0013] Optionally, under the first preset premise, establishing a simplified six-degree-of-freedom motion model to obtain the motion mathematical model includes:

[0014] On the premise that pitch and roll are essentially stable, the transformation matrix in the six-degree-of-freedom motion model is simplified to obtain the motion mathematical model.

[0015] Optionally, determining the super-helical sliding mode control law according to the motion mathematical model comprises:

[0016] Determining a first conversion relationship between the angular velocity and the linear velocity of the underwater robot and a second conversion relationship between the angular acceleration and the linear acceleration according to the motion mathematical model;

[0017] Rewriting the motion mathematical model according to the first conversion relationship and the second conversion relationship to obtain a motion state model, wherein the motion state model is used to represent the relationship between the external force, the control input and the external disturbance and the motion state variable;

[0018] The super-helical sliding mode control law is determined according to the motion state model.

[0019] Optionally, determining the superhelical sliding mode control law according to the motion state model includes:

[0020] Under a second preset premise, the constraint boundary of the sliding surface is determined, the adaptive gain is determined according to the constraint boundary, and the super-helical sliding mode control law is determined according to the motion state model and the adaptive gain, wherein the second preset premise includes that the external disturbance is a Lipschitz continuous function, and the sliding surface of the super-helical sliding mode control law is introduced into the constraint boundary.

[0021] Optionally, establishing an estimation matrix according to the time delay includes:

[0022] Establishing a Jacobian matrix according to the heading angle of the underwater robot;

[0023] Establishing a mass matrix according to the mass and moment of inertia of the underwater robot;

[0024] Establishing an equation relationship between a delay estimator error and the estimation matrix according to the Jacobian matrix and the quality matrix;

[0025] The estimation matrix is ​​defined according to the equation relationship, and is represented by the time delay and motion state model.

[0026] Optionally, establishing an adaptive generalized super helical sliding mode control law according to the estimation matrix and the super helical sliding mode control law comprises:

[0027] Substituting the estimated matrix into the super helical sliding mode control law, the adaptive generalized super helical sliding mode control law is obtained.

[0028] In a second aspect, the present invention provides an underwater robot trajectory tracking device, comprising:

[0029] Modeling module, used to establish the mathematical model of the underwater robot's motion;

[0030] An adaptive module, used for determining a super-helical sliding mode control law according to the motion mathematical model, wherein the super-helical sliding mode control law is used for adjusting internal parameters, and performing trajectory tracking control according to the internal parameters, wherein the internal parameters include internal adjustment parameters of the underwater robot;

[0031] The time delay module is used to establish an estimation matrix according to the time delay, and to establish an adaptive generalized super-helical sliding mode control law according to the estimation matrix and the super-helical sliding mode control law, wherein the adaptive generalized super-helical sliding mode control law is used to track the trajectory of the underwater robot.

[0032] In a third aspect, the present invention provides an electronic device, including a memory and a processor;

[0033] The memory is used to store computer programs;

[0034] The processor is used to implement the underwater robot trajectory tracking method as described above when executing the computer program.

[0035] In a fourth aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the underwater robot trajectory tracking method as described above is implemented.

[0036] The beneficial effects of the underwater robot trajectory tracking method of the present invention are:

[0037] Based on the unique dynamic characteristics of underwater robots, a mathematical model of their motion is constructed, which serves as the basis for achieving accurate trajectory tracking. The super-helical sliding mode control law is constructed through this model, aiming to give the underwater robot rapid response capability and robustness to external interference and internal parameter changes. On this basis, considering the time delay phenomenon in practical applications, the time delay factor is introduced and a special estimation matrix is ​​designed to enhance the stability of the system in the face of high sampling frequency and long delay. The estimation matrix is ​​combined with the super-helical sliding mode control strategy to construct an adaptive generalized super-helical sliding mode control law, thereby realizing the underwater vehicle trajectory tracking control with strong robustness under the conditions of external interference, high sampling interval and significant time delay. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 A schematic diagram of a flow chart of a method for tracking a trajectory of an underwater robot according to an embodiment of the present invention;

[0039] Figure 2 This is an example diagram of an underwater robot trajectory tracking device according to an embodiment of the present invention;

[0040] Figure 3 An exemplary diagram of an electronic device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0041] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. Although certain embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be interpreted as being limited to the embodiments described herein. On the contrary, these embodiments are provided to provide a more thorough and complete understanding of the present invention. It should be understood that the drawings and embodiments of the present invention are only for exemplary purposes and are not intended to limit the scope of protection of the present invention.

[0042] It should be understood that the various steps described in the method embodiments of the present invention may be performed in different orders and / or in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present invention is not limited in this respect.

[0043] The term "including" and its variations used in this document are open inclusions, that is, "including but not limited to"; the term "based on" means "based at least in part on"; the term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one other embodiment"; the term "some embodiments" means "at least some embodiments"; the term "optionally" means "optional embodiments". The relevant definitions of other terms will be given in the following description. It should be noted that the concepts of "first", "second", etc. mentioned in the present invention are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0044] It should be noted that the modifications of "one" and "plurality" mentioned in the present invention are illustrative rather than restrictive, and those skilled in the art should understand that, unless otherwise clearly indicated in the context, it should be understood as "one or more".

[0045] The names of the messages or information exchanged between multiple devices in the embodiments of the present invention are only used for illustrative purposes, and are not used to limit the scope of these messages or information.

[0046] like Figure 1 As shown, an underwater robot trajectory tracking method provided by an embodiment of the present invention includes:

[0047] Step S100, establishing a mathematical model of the motion of the underwater robot.

[0048] Establish an accurate mathematical model of motion based on the dynamic characteristics of the underwater robot. This model should take into account factors such as fluid resistance, buoyancy, inertia in the underwater environment, as well as the influence of the underwater robot's own structural characteristics. Track the trajectory of the underwater robot based on the mathematical model of motion. Specifically, select appropriate physical quantities as state variables, such as position coordinates, velocity, acceleration, etc., in order to describe the motion state of the underwater robot. Consider various external interference forces that may be encountered during underwater operations, such as water flow, friction, etc., and incorporate them into the mathematical model. Yaw dynamics also need to be considered in the design of the trajectory tracking controller.

[0049] Step S200, determining a super-helical sliding mode control law according to the motion mathematical model, wherein the super-helical sliding mode control law is used to adjust internal parameters, and trajectory tracking control is performed according to the internal parameters, and the internal parameters include internal adjustment parameters of the underwater robot.

[0050] Based on the above-established motion mathematical model, a super-helical sliding mode control law is designed. This control law is mainly used to adjust the internal parameters of the underwater robot, thereby achieving accurate tracking of the motion trajectory of the underwater robot. Specifically, the sliding surface is designed, and the tracking error and its time derivative are defined according to the desired trajectory and its time derivative, so as to determine the super-helical sliding mode control law, so as to control the underwater robot through sliding mode control.

[0051] Step S300, establishing an estimation matrix according to the time delay, and establishing an adaptive generalized super helical sliding mode control law according to the estimation matrix and the super helical sliding mode control law, wherein the adaptive generalized super helical sliding mode control law is used to track the trajectory of the underwater robot.

[0052] Since the chattering phenomenon in sliding mode control is caused by the time delay when the control parameters are obtained, in order to avoid the chattering phenomenon, a time delay is added to the control law when designing an adaptive generalized super-helical sliding mode control law, an estimation matrix is ​​established according to the time delay, the influence of the time delay is compensated by the estimation matrix, and a new control law is formed in combination with the super-helical sliding mode control law to enhance the robustness and adaptability of the system and avoid the chattering phenomenon caused by the sliding mode control. The adaptive generalized super-helical sliding mode control law is used to guide the underwater robot to adjust its posture and speed in real time, thereby achieving accurate tracking of the underwater robot's trajectory, and maintaining good tracking performance even in the presence of time delay.

[0053] In this embodiment, based on the unique dynamic characteristics of the underwater robot, a mathematical model of its motion is constructed, and this model serves as the basis for achieving accurate trajectory tracking. The super-helical sliding mode control law is constructed through this model, aiming to give the underwater robot rapid response capability and robustness to external interference and internal parameter changes. On this basis, considering the time delay phenomenon existing in practical applications, the time delay factor is introduced, and a special estimation matrix is ​​designed to enhance the stability of the system in the face of high sampling frequency and long delay. The estimation matrix is ​​combined with the super-helical sliding mode control strategy to construct an adaptive generalized super-helical sliding mode control law, thereby realizing a highly robust underwater vehicle trajectory tracking control under the conditions of external interference, high sampling interval and significant time delay.

[0054] Optionally, the establishing of a mathematical model of motion of the underwater robot includes:

[0055] A six-degree-of-freedom motion model is established based on the velocity state vector of the underwater robot relative to a solid coordinate system, the position and direction vector relative to an inertial coordinate system, an inertia matrix, a Coriolis centripetal matrix, a hydrodynamic damping matrix, and vectors of gravity, buoyancy and torque.

[0056] Under the first preset premise, a simplified six-degree-of-freedom motion model is established to obtain the motion mathematical model.

[0057] The six-degree-of-freedom motion model is expressed as:

[0058] ,

[0059] Where v represents the velocity state vector relative to the solid coordinate system, represents the position and direction vector relative to the inertial coordinate system, M represents the inertial matrix, including the influence of the additional mass, that is, the mass matrix, C represents the Coriolis centripetal matrix, D represents the hydrodynamic damping matrix, g represents the vector of gravity, buoyancy and torque, represents the control vector affecting the underwater robot, and J represents the transformation matrix mapping from the body-fixed frame to the ground-fixed frame.

[0060] Optionally, under the first preset premise, establishing a simplified six-degree-of-freedom motion model to obtain the motion mathematical model includes:

[0061] On the premise that pitch and roll are essentially stable, the transformation matrix in the six-degree-of-freedom motion model is simplified to obtain the motion mathematical model.

[0062] In this embodiment, it is assumed that the underwater robot is stable in the sway and heave directions. This assumption helps to simplify the model and simplify its dynamics to only four degrees of freedom, expressed as:

[0063] ,

[0064] Among them, surge (u), swing (v) and heave (w) represent the The yaw angle (r) represents the rotational velocity along the z-axis. and are the mass and moment of inertia of the underwater robot, which includes the additional mass and inertia, denote the forces applied by the thruster along the shock, sway and heave directions, respectively, represents the moment during yaw motion, represents the buoyancy during heave. The hydrodynamic damping is modeled as linear and quadratic terms, denote the linear and quadratic damping coefficients for surge, sway, heave and yaw, respectively, It is represented as a bounded perturbation in all directions, and t represents time.

[0065] Assuming that the underwater robot is essentially stable in pitch and roll, the transformation matrix is ​​simplified and the mathematical model of the underwater robot's motion is expressed as:

[0066] ,

[0067] Among them, u, v and w represent the The translation speed, represents the heading angle, x, y and z represent the x, y and z axis positions relative to the coordinate system, r represents the yaw angle, and t represents time.

[0068] In this embodiment, yaw dynamics are considered in the trajectory tracking control design. Now define and , then the simplified motion mathematical model can be expressed as:

[0069] ,

[0070] Among them, J represents the transformation matrix mapping from the body-fixed frame to the ground-fixed frame, M represents the inertia matrix, including the influence of the additional mass, and G represents the nonlinear term of the underwater robot system. represents the control vector affecting the underwater robot, represents external disturbance, and t represents time.

[0071] Where M is specified as , Synthesize in vector form ,in, and are the mass and moment of inertia of the underwater robot, denote the forces applied by the thruster along the shock, sway and heave directions, respectively, Represents the torque during yaw motion.

[0072] The vector is defined as ,in, is represented as a bounded perturbation in all directions.

[0073] matrix and It is expressed as:

[0074] ,

[0075] ,

[0076] Among them, the parameters , , , Defined as:

[0077] .

[0078] Optionally, determining the super-helical sliding mode control law according to the motion mathematical model comprises:

[0079] A first conversion relationship between the angular velocity and the linear velocity of the underwater robot and a second conversion relationship between the angular acceleration and the linear acceleration are determined according to the motion mathematical model.

[0080] The motion mathematical model is rewritten according to the first conversion relationship and the second conversion relationship to obtain a motion state model, wherein the motion state model is used to represent the relationship between external forces, control inputs, external disturbances and motion state variables.

[0081] The super-helical sliding mode control law is determined according to the motion state model.

[0082] Select the state variable:

[0083] ,

[0084] According to the motion mathematical model, we can get:

[0085] ,

[0086] Then the motion mathematical model can be rewritten as a motion state model, which can be expressed as:

[0087] ,

[0088] Among them, the vector in the motion state model is defined as:

[0089] ,

[0090] The sliding surface is designed as:

[0091] ,

[0092] The sliding surface is defined as , the tracking error and its time derivative are defined as and ,in, represents the expected trajectory, represents the time derivative of the desired trajectory, represents a positive matrix.

[0093] Optionally, determining the superhelical sliding mode control law according to the motion state model includes:

[0094] Under a second preset premise, the constraint boundary of the sliding surface is determined, the adaptive gain is determined according to the constraint boundary, and the super-helical sliding mode control law is determined according to the motion state model and the adaptive gain, wherein the second preset premise includes that the external disturbance is a Lipschitz continuous function, and the sliding surface of the super-helical sliding mode control law is introduced into the constraint boundary.

[0095] Before proposing the adaptive high-order sliding mode control law, the control law is constrained by the second preset premise, which includes that the external disturbance is a Lipschitz continuous function, and its time derivative is constrained by the following bounds: ,in, and unknown but finite boundaries.

[0096] According to the second premise, the control law is designed as:

[0097] ,

[0098] U represents the adaptive generalized super-helical sliding mode control gain, which is defined as:

[0099] ,

[0100] in, ,

[0101] ,

[0102] The internal parameters are defined as:

[0103] ,

[0104] in, , , , For constant gain, is a symbolic function, which is defined as:

[0105] ,

[0106] in is a scalar.

[0107] The definitions of adaptive gains k1 and k2 are expressed as:

[0108] ,

[0109] in, and is a preset constant.

[0110] For the sliding surface A bound is introduced so that the adaptive gain can be expressed as:

[0111] ,

[0112] Among them, the parameters It represents a positive constant with a smaller value set according to experience, which is used to prevent the adaptive gain from increasing to infinity. It cannot be completely 0.

[0113] When the underwater robot hydrodynamic parameter information is unavailable, the motion mathematical model can be ignored. Therefore, the control law can be rewritten as:

[0114] .

[0115] Optionally, establishing an estimation matrix according to the time delay includes:

[0116] A Jacobian matrix is ​​established according to the heading angle of the underwater robot.

[0117] A mass matrix is ​​established according to the mass and moment of inertia of the underwater robot.

[0118] An equation relationship between the delay estimator error and the estimation matrix is ​​established according to the Jacobian matrix and the quality matrix.

[0119] The estimation matrix is ​​defined according to the equation relationship, and is represented by the time delay and motion state model.

[0120] Optionally, establishing an adaptive generalized super helical sliding mode control law according to the estimation matrix and the super helical sliding mode control law comprises:

[0121] Substituting the estimated matrix into the super helical sliding mode control law, the adaptive generalized super helical sliding mode control law is obtained.

[0122] In one embodiment, the delay estimator error is defined as:

[0123] ,

[0124] in, represents the delay estimator error, J represents the transformation matrix mapping from the body-fixed frame to the ground-fixed frame, M represents the inertia matrix, including the effect of the added mass, represents the estimation matrix.

[0125] In this regard, the estimated function An efficient engineering solution for is to approximate it by its delay function, where L represents the time delay.

[0126] The rewritten state equation can be obtained:

[0127] ,

[0128] Will Substituting into the above control law, we obtain:

[0129] ,

[0130] in, represents the adjustable positive gain matrix.

[0131] The adaptive generalized super-helical sliding mode control law is expressed as:

[0132] ,

[0133] If the adaptive generalized super-helical sliding mode control gain is selected as K1, K2>0 and is large enough, it can be concluded that within a finite time The stable tracking of underwater robots under high sampling time and high time delay is achieved, and the requirements for the accuracy of underwater robot components can be appropriately relaxed, thereby reducing the overall cost of underwater robots.

[0134] The controller It is used to control the underwater robot and add composite disturbance to simulate the motion of the underwater robot. The system parameters of the underwater robot are shown in Table 1, and the controller parameters are shown in Table 2. The external disturbance introduced is:

[0135] ,

[0136] The frequency = 10 Hz.

[0137] The sampling time at the beginning of the simulation is set to 50ms, and the original control parameters are kept unchanged. The sampling debugging is adjusted to 100ms, and the time delay is adjusted to 200ms and 300ms respectively. The tracking performance of the designed controller is compared with other controllers.

[0138] Table 1 Underwater robot system parameters

[0139]

[0140] Table 2: Controller parameters

[0141]

[0142] The parametric equation of the desired trajectory is:

[0143] ,

[0144] When the sampling time is 50ms, the classical generalized super-helical sliding mode controller, the time-delayed generalized super-helical sliding mode controller and the time-delayed adaptive generalized super-helical sliding mode controller can track the circular trajectory well, but because the adaptive gain needs to be adjusted to a suitable value for a period of time at the beginning, the tracking effect of the time-delayed generalized super-helical sliding mode controller is relatively good. However, when the sampling time increases to 100ms, the tracking trajectories of the classical generalized super-helical sliding mode controller and the time-delayed generalized super-helical sliding mode controller both have a large deviation, while the time-delayed adaptive generalized super-helical sliding mode controller can track the expected trajectory well.

[0145] As the time delay gradually increases, the tracking trajectories of the classical generalized superhelical sliding mode controller and the time-delay generalized superhelical sliding mode controller both have large deviations, and the greater the time delay, the greater the deviation. However, the time-delay adaptive generalized superhelical sliding mode controller can still achieve stable tracking of the desired trajectory even in this case.

[0146] like Figure 2 As shown, an underwater robot trajectory tracking device 200 provided by an embodiment of the present invention includes:

[0147] The modeling module 210 is used to establish a mathematical model of the movement of the underwater robot.

[0148] The adaptive module 220 is used to determine the super-helical sliding mode control law according to the motion mathematical model, wherein the super-helical sliding mode control law is used to adjust internal parameters and perform trajectory tracking control according to the internal parameters, and the internal parameters include internal adjustment parameters of the underwater robot.

[0149] The time delay module 230 is used to establish an estimation matrix according to the time delay, and to establish an adaptive generalized super helical sliding mode control law according to the estimation matrix and the super helical sliding mode control law, wherein the adaptive generalized super helical sliding mode control law is used to track the trajectory of the underwater robot.

[0150] like Figure 3 As shown, an electronic device 300 provided by an embodiment of the present invention includes a memory 310 and a processor 320; the memory 310 is used to store a computer program; the processor 320 is used to implement the underwater robot trajectory tracking method as described above when executing the computer program.

[0151] In other words, an electronic device 300 includes a memory 310 and a processor 320 coupled to the memory 310; the memory 310 is configured to store a computer program; and the processor 320 is configured to perform the following operations when executing the computer program:

[0152] Establish a mathematical model of underwater robot movement;

[0153] Determining a super-helical sliding mode control law according to the motion mathematical model, wherein the super-helical sliding mode control law is used to adjust internal parameters, and trajectory tracking control is performed according to the internal parameters, and the internal parameters include internal adjustment parameters of the underwater robot;

[0154] An estimation matrix is ​​established according to the time delay, and an adaptive generalized super helical sliding mode control law is established according to the estimation matrix and the super helical sliding mode control law, wherein the adaptive generalized super helical sliding mode control law is used to track the trajectory of the underwater robot.

[0155] An embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the underwater robot trajectory tracking method as described above is implemented.

[0156] In other words, a non-volatile computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor performs the following operations:

[0157] Establish a mathematical model of underwater robot movement;

[0158] Determining a super-helical sliding mode control law according to the motion mathematical model, wherein the super-helical sliding mode control law is used to adjust internal parameters, and trajectory tracking control is performed according to the internal parameters, and the internal parameters include internal adjustment parameters of the underwater robot;

[0159] An estimation matrix is ​​established according to the time delay, and an adaptive generalized super helical sliding mode control law is established according to the estimation matrix and the super helical sliding mode control law, wherein the adaptive generalized super helical sliding mode control law is used to track the trajectory of the underwater robot.

[0160] An electronic device 300 that can be used as a server or client of the present invention will now be described, which is an example of a hardware device that can be applied to various aspects of the present invention. The electronic device 300 is intended to represent various forms of digital electronic computer equipment, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device 300 can also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples, and are not intended to limit the implementation of the present invention described and / or required herein.

[0161] The electronic device 300 includes a computing unit, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) or a computer program loaded from a storage unit into a random access memory (RAM). In the RAM, various programs and data required for the operation of the device can also be stored. The computing unit, ROM, and RAM are connected to each other via a bus. An input / output (I / O) interface is also connected to the bus.

[0162] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment method can be implemented by instructing the relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, the storage medium can be a disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc. In the present application, the unit described as a separate component may or may not be physically separated, and the component displayed as a unit may or may not be a physical unit, that is, it may be located in one place, or it may be distributed on multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiment of the present invention. In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

[0163] Although the present invention is disclosed as above, the protection scope of the present invention is not limited thereto. Those skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention, and these changes and modifications will fall within the protection scope of the present invention.

Claims

1. A method for tracking underwater robot trajectory, characterized in that: include: Establish a mathematical model of underwater robot movement; Determining a super-helical sliding mode control law according to the motion mathematical model includes: determining a first conversion relationship between the angular velocity and the linear velocity of the underwater robot and a second conversion relationship between the angular acceleration and the linear acceleration according to the motion mathematical model; rewriting the motion mathematical model according to the first conversion relationship and the second conversion relationship to obtain a motion state model, wherein the motion state model is used to represent the relationship between external forces, control inputs and external disturbances and motion state variables; determining the super-helical sliding mode control law according to the motion state model, wherein the super-helical sliding mode control law is used to adjust internal parameters, and trajectory tracking control is performed according to the internal parameters, and the internal parameters include internal adjustment parameters of the underwater robot; An estimation matrix is ​​established according to time delay, including: establishing a Jacobian matrix according to the heading angle of the underwater robot; establishing a mass matrix according to the mass and moment of inertia of the underwater robot; establishing an equation relationship between a time delay estimator error and the estimation matrix according to the Jacobian matrix and the mass matrix; defining the estimation matrix according to the equation relationship, and representing the estimation matrix through the time delay and motion state model; establishing an adaptive generalized super helical sliding mode control law according to the estimation matrix and the super helical sliding mode control law, wherein the adaptive generalized super helical sliding mode control law is used to track the trajectory of the underwater robot.

2. The underwater robot trajectory tracking method according to claim 1, characterized in that: The establishment of a motion mathematical model for the underwater robot includes: Establishing a six-degree-of-freedom motion model based on the velocity state vector of the underwater robot relative to the solid coordinate system, the position and direction vector relative to the inertial coordinate system, the inertia matrix, the Coriolis centripetal matrix, the hydrodynamic damping matrix, the vectors of gravity, buoyancy and torque; Under the first preset premise, a simplified six-degree-of-freedom motion model is established to obtain the motion mathematical model.

3. The underwater robot trajectory tracking method according to claim 2, characterized in that: Under the first preset premise, establishing a simplified six-degree-of-freedom motion model, and obtaining the motion mathematical model includes: On the premise that pitch and roll are essentially stable, the transformation matrix in the six-degree-of-freedom motion model is simplified to obtain the motion mathematical model.

4. The underwater robot trajectory tracking method according to claim 1, characterized in that: Determining the super-helical sliding mode control law according to the motion state model comprises: Under the second preset premise, the constraint boundary of the sliding mode surface of the super helical sliding mode control law is determined, the adaptive gain is determined according to the constraint boundary, and the super helical sliding mode control law is determined according to the motion state model and the adaptive gain, wherein the second preset premise includes that the external disturbance is a Lipschitz continuous function, and the sliding mode surface of the super helical sliding mode control law is introduced into the constraint boundary.

5. The underwater robot trajectory tracking method according to claim 1, characterized in that: The establishing of the adaptive generalized super helical sliding mode control law according to the estimation matrix and the super helical sliding mode control law comprises: Substituting the estimated matrix into the super helical sliding mode control law, the adaptive generalized super helical sliding mode control law is obtained.

6. An underwater robot trajectory tracking device, characterized in that: include: Modeling module, used to establish the mathematical model of the underwater robot's motion; An adaptive module is used to determine a super-helical sliding mode control law according to the motion mathematical model, including: determining a first conversion relationship between the angular velocity and the linear velocity of the underwater robot and a second conversion relationship between the angular acceleration and the linear acceleration according to the motion mathematical model; rewriting the motion mathematical model according to the first conversion relationship and the second conversion relationship to obtain a motion state model, wherein the motion state model is used to represent the relationship between the external force, the control input and the external disturbance and the motion state variable; determining the super-helical sliding mode control law according to the motion state model, wherein the super-helical sliding mode control law is used to adjust internal parameters, and trajectory tracking control is performed according to the internal parameters, and the internal parameters include internal adjustment parameters of the underwater robot; A time delay module is used to establish an estimation matrix according to the time delay, including: establishing a Jacobian matrix according to the heading angle of the underwater robot; establishing a mass matrix according to the mass and moment of inertia of the underwater robot; establishing an equation relationship between the time delay estimator error and the estimation matrix according to the Jacobian matrix and the mass matrix; defining the estimation matrix according to the equation relationship, and representing the estimation matrix through the time delay and motion state model; establishing an adaptive generalized super helical sliding mode control law according to the estimation matrix and the super helical sliding mode control law, wherein the adaptive generalized super helical sliding mode control law is used to track the trajectory of the underwater robot.

7. An electronic device, characterized in that: including memory and processor; The memory is used to store computer programs; The processor is used to implement the underwater robot trajectory tracking method according to any one of claims 1 to 5 when executing the computer program.

8. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed by the processor, the underwater robot trajectory tracking method according to any one of claims 1 to 5 is implemented.

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