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A uuv trajectory tracking control method to avoid differential explosion

A technology of trajectory tracking and differential explosion, which is applied in the direction of adaptive control, general control system, control/regulation system, etc., and can solve problems such as complex controller design, affecting control accuracy, and input saturation of actuators

Active Publication Date: 2020-01-17
HARBIN ENG UNIV
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Problems solved by technology

However, after the introduction of intermediate virtual control variables, the derivative operation will make the controller design very complicated, affect the control accuracy, and even cause the input saturation problem of the actuator

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  • A uuv trajectory tracking control method to avoid differential explosion
  • A uuv trajectory tracking control method to avoid differential explosion
  • A uuv trajectory tracking control method to avoid differential explosion

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Embodiment Construction

[0068] The following example describes in detail the UUV trajectory tracking control method for avoiding differential explosion of the present invention:

[0069] In step 1, according to the current task, the UUV gives the expected trajectory position information to the UUV, and collects data through the on-board navigation equipment and sensors to obtain the current position X(t)=[x(t),y(t),z (t)] T Information, attitude [θ(t), ψ(t)] T Information, speed V(t)=[u(t), v(t), ω(t), q(t), r(t)] T information.

[0070] Then the UUV acquires the initial position X(t)=[x(t),y(t),z(t)] in the ground coordinate system T , UUV initial heading angle ψ(t), pitch angle θ(t), UUV initial longitudinal velocity u r (t), lateral velocity v r (t) and yaw rate r(t), and given the desired trajectory position X d (t)=[x d (t),y d (t),z d (t)] T .

[0071] In step 2, use the information in step 1 to calculate the position error between the actual trajectory and the expected trajectory an...

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Abstract

The invention provides a UUV trajectory tracking control method for preventing the differential explosion based on the differential output characteristics of a biological instructive model. The method comprises the following steps of 1, conducting the initialization; 2, obtaining position and attitude error variables based on an under-actuated UUV mathematical model; 3, calculating a virtual control law, and replacing a virtual expectancy control law with the output value of the biological instructive model; 4, constructing a Lyapunov function, and transferring the ballast of a position error to the ballast of a speed error, avoiding the differential explosion phenomenon through the real-time derivation of replacing a virtual control variable with the output of the biological instructive model, and realizing the ballast of the speed error; and 5, designing a trajectory tracking controller. According to the technical scheme of the invention, the differential explosion phenomenon caused by the repeated derivation of the traditional back-stepping method can be avoided, and the complexity of the controller is simplified. Meanwhile, in combination with the controller of the biological instructive model, the time constraint requirements of the thrust constraints and the under-actuated UUV trajectory tracking of a propeller on position, speed and attitude can be met.

Description

technical field [0001] The invention relates to a control method of an underactuated underwater unmanned vehicle, in particular to an underactuated UUV space trajectory tracking backstepping control method for avoiding differential explosion. Background technique [0002] The space trajectory tracking and control capability of Unmanned Underwater Vehicle (UUV) is the guarantee for ocean exploration. On the one hand, the underactuated system studied can greatly simplify the design of the UUV hardware system; at the same time, when part of the auxiliary propulsion device of the full-drive UUV fails, the UUV becomes an underactuated system, and the designed underactuated UUV trajectory The tracking control method can still ensure the maximum completion of the task, which greatly improves the reliability of the all-drive system. In summary, it is very important to study the control method of underactuated UUV space trajectory tracking. [0003] The underactuated UUV involved i...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04G05D1/10
CPCG05B13/042G05D1/10
Inventor 何东旭周佳加叶丁绮赵俊鹏张耕实
Owner HARBIN ENG UNIV
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