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Underwater robot trajectory tracking backstepping control method

A technology of underwater robot and backstep control, applied in the direction of adaptive control, general control system, control/adjustment system, etc., can solve the problems of poor practicability and achieve the effect of good practicability and high stability

Inactive Publication Date: 2018-03-16
NORTHWESTERN POLYTECHNICAL UNIV +1
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Problems solved by technology

[0004] In order to overcome the shortcomings of poor practicability of existing underwater robot control methods, the present invention provides a track tracking backstepping control method for underwater robots

Method used

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  • Underwater robot trajectory tracking backstepping control method
  • Underwater robot trajectory tracking backstepping control method
  • Underwater robot trajectory tracking backstepping control method

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Embodiment Construction

[0032] refer to figure 1 . The specific steps of the underwater robot trajectory tracking backstepping control method of the present invention are as follows:

[0033] Step 1. The six-degree-of-freedom motion equation based on the body coordinate system of the underwater robot:

[0034]

[0035] where M is a generalized mass positive definite matrix, is the position and yaw angle of the underwater robot, v=[u r v r r] is the generalized water velocity, u r v r r are longitudinal, transverse and lateral velocity and yaw rate, respectively, is the yaw angle, C(v) is the oblique symmetric matrix of the generalized drag coefficient, D(v) is the hydrodynamic parameter, τ c is the control torque vector; the values ​​of each matrix and parameters are as follows:

[0036]

[0037] where m 11 =47.5,m 22 =94.1,m 33 =13.6,m 23 =m 32 =5.2, d 11 =13.5, d 22 =50.2, d 33 =27.2,d 23 =41.4, m 32 = 17.3.

[0038] Step 2. First define the tracking error of the gen...

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Abstract

The invention discloses an underwater robot trajectory tracking backstepping control method, and is used for solving the technical problem of poor practicality of the present underwater robot controlmethod. According to the technical scheme, firstly the tracking error of generalized coordinates is defined and then the generalized velocity error is defined based on the six-degree-of-freedom kinematic equation (which is expressed in the specification) of an underwater robot body coordinate system, the first Lyapunov function and the second Lyapunov function are selected and the control law is selected so that underwater robot control can be realized. The Lyapunov function is adopted so that the control stability is high, the position error and the angle error tend to be zero and thus the practicality is great.

Description

technical field [0001] The invention relates to a control method for an underwater robot, in particular to a track tracking backstepping control method for an underwater robot. Background technique [0002] ROV (Remote Controlled Underwater Robot) can be well qualified for high-intensity and long-duration underwater tasks, with convenient operation and high efficiency. However, the trajectory tracking control of underwater robots mostly uses PID control algorithms. And it has nothing to do with the model parameters. Compared with some algorithms designed based on model parameters, there are still some gaps in the control effect. [0003] The document "Application of Fuzzy PID Control in Motion Control of Underwater Robots" (Shen Wei, Harbin Engineering University, 2005) designed a method of fuzzy PID control in motion control of underwater robots. In the motion control part of this method, a Mamdani-type conventional fuzzy controller is firstly designed, and then two high-p...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04G05D1/10G05D1/12
CPCG05B13/04G05D1/10G05D1/12
Inventor 袁源许斌陈杰凡永华韩毅
Owner NORTHWESTERN POLYTECHNICAL UNIV
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