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Underwater robot motion path tracking method based on sliding mode robust control

An underwater robot, a technology of robot movement, applied in the field of robotics

Pending Publication Date: 2020-09-18
NANJING INST OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is to provide a method for tracking the motion path of an underwater robot based on sliding mode robust control, which solves the problem of ensuring the asymptotic path tracking error when the underwater robot is subject to bounded interference and inaccurate target speed estimation. technical issues with stability

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  • Underwater robot motion path tracking method based on sliding mode robust control
  • Underwater robot motion path tracking method based on sliding mode robust control
  • Underwater robot motion path tracking method based on sliding mode robust control

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Embodiment Construction

[0056] Such as Figure 1-Figure 5 A motion path tracking method for an underwater robot based on sliding mode robust control is shown, including the following steps:

[0057] Step 1: Establish the autonomous underwater robot navigation system, underwater robot control system and central server cluster, and the central server cluster communicates with the autonomous underwater robot navigation system through Wi-Fi;

[0058] The autonomous underwater robot navigation system is used to collect underwater information, robot attitude information and inertial navigation information;

[0059] The underwater robot control system is used for attitude adjustment, center of gravity adjustment and motion control of the underwater robot;

[0060] Establish target data acquisition module, linear Kalman filter, sliding mode robust control module, disturbance observer and path control module in the central server cluster;

[0061]The target data collection module is used to regularly collec...

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Abstract

The invention discloses an underwater robot motion path tracking method based on sliding mode robust control, and belongs to the technical field of robots. According to the invention, unknown ocean current and other external bounded interferences are considered; the latest technology of path tracking control is expanded; under the condition that a target attitude measurement value is given, the linear velocity and the angular velocity of the target are estiminated by using a Kalman filter; the robustness of bounded interference is realized by adopting sliding mode control; interference is directly compensated by using an interference observer to calculate an estimated value, so that an underwater robot is enabled to converge to a motion path more quickly; the technical problem in guaranteeing asymptotic stability of a path tracking error under the condition that the underwater robot is subjected to bounded interference and target speed estimation is inaccurate is solved, and the globalasymptotic stability of underwater robot path tracking control is guaranteed under the condition that target speed and environmental disturbance have bounded estimation errors.

Description

technical field [0001] The invention belongs to the technical field of robots, and relates to a motion path tracking method of an underwater robot based on sliding mode robust control. Background technique [0002] Underwater robot path tracking is usually to set an ideal geometric path in the underwater space coordinate system, and perform motion control along the pre-specified geometric path (relative to the moving target frame) according to the set control method to realize its tracking. sports. It has important research significance in underwater escort, pipeline inspection, seabed survey, and marine life tracking. However, the existing underwater robot path tracking methods are easily disturbed by the underwater external environment, such as ocean currents and seabed mutations, which seriously affect the movement of underwater robots. [0003] The current limitations of underwater robot path tracking control: [0004] 1. It needs to be assumed that the attitude and v...

Claims

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Application Information

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IPC IPC(8): G05D1/06
CPCG05D1/0692
Inventor 陈国军陈丝雨陈巍史金飞
Owner NANJING INST OF TECH
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