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Underactuated UUV plane trajectory tracking control method based on dynamic speed adjustment

A trajectory tracking and dynamic speed technology, applied in attitude control, non-electric variable control, vehicle position/route/altitude control, etc.

Active Publication Date: 2016-09-07
HARBIN ENG UNIV
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Problems solved by technology

There is currently no relevant literature discussing the design of underactuated UUV planar trajectory tracking control based on dynamic velocity regulation

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  • Underactuated UUV plane trajectory tracking control method based on dynamic speed adjustment
  • Underactuated UUV plane trajectory tracking control method based on dynamic speed adjustment
  • Underactuated UUV plane trajectory tracking control method based on dynamic speed adjustment

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specific Embodiment approach 1

[0072] Specific Embodiments 1. An underdriven UUV planar trajectory tracking control method based on dynamic speed adjustment,

[0073] In step 1, the UUV gives the UUV the expected trajectory position information according to the current task, and collects data through the on-board navigation equipment and sensors to obtain the current position P(t)=[x(t),y(t)] T information, attitude ψ(t) information, velocity V(t)=[u r (t), v r (t),r(t)] T information.

[0074] Then the UUV acquires the initial position P(t)=[x(t),y(t)] in the ground coordinate system T , UUV initial heading angle ψ(t), UUV initial longitudinal velocity u r (t), lateral velocity v r (t) and yaw rate r(t), and given the desired trajectory position P d (t)=[x d (t),y d (t)] T .

[0075] In step 2, use the information in step 1 to calculate the position error and expected attitude between the actual trajectory and the expected trajectory through the mathematical model of the underactuated UUV and the...

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Abstract

The invention provides an underactuated UUV plane trajectory tracking control method based on dynamic speed adjustment, relating to the motion control technology of an underactuated underwater unmanned vehicle. The invention aims to realize the precise tracking control of an underactuated UUV plane trajectory. The method comprises the steps of (1) a UUV obtains position and attitude information according to a current task, (2) position and attitude error variables are obtained by using the mathematical model of an underactuated UUV, (3) a method of defining a virtual speed error variable to calculate a virtual control rule, (4) combined with a biologically inspired model, the dynamic adjustment of a speed error is carried out, and (5) the control signal generated by a speed adjustment controller is deduced, and the underactuated UUV plane trajectory tracking control is realized. According to the method, the dynamic adjustment of the speed of the underactuated UUV can be carried out, a singular value when a first direction angle error is equal to 90 degrees in a traditional backstepping method is avoided, and the tracking of a circular trajectory in an external constant disturbance is realized.

Description

technical field [0001] The invention relates to a motion control technology of an underactuated underwater unmanned vehicle, in particular to an underactuated UUV plane trajectory tracking control technology based on dynamic speed adjustment. Background technique [0002] The trajectory tracking and control capability of Unmanned Underwater Vehicle (UUV) is the technical basis for underwater terrain mapping, lifesaving, exploration and other tasks. Trajectory tracking requires that the control law can guide the actual trajectory of the UUV to converge to a reference trajectory with time-varying characteristics, coupled with underactuated characteristics, nonlinearity and coupling, etc., making the underactuated UUV trajectory tracking control problem challenging. Compared with path tracking, trajectory tracking puts more emphasis on the requirements of time and space, that is, the desired position is constrained by time, which is in line with practical engineering applicatio...

Claims

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Application Information

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IPC IPC(8): G05D1/10G05D1/08
CPCG05D1/0808G05D1/10
Inventor 周佳加赵俊鹏王宏健张勋严浙平施小成
Owner HARBIN ENG UNIV
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