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Ship-borne manipulator tail end trajectory tracking coordination control method based on full-order terminal sliding mode

A technology of trajectory tracking and terminal sliding mode, which is applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problems that hinder the development and application of trajectory tracking control at the end of the ship-borne manipulator, and achieve the goal of overcoming the slow convergence time. Long, the effect of overcoming sliding mode chattering

Pending Publication Date: 2021-08-17
DALIAN MARITIME UNIVERSITY
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Problems solved by technology

As a nonlinear multi-agent combination, the development and application of trajectory tracking control at the end of the ship-borne manipulator is hindered by the particularity of the model and the strong coupling dynamics between subsystems.

Method used

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  • Ship-borne manipulator tail end trajectory tracking coordination control method based on full-order terminal sliding mode
  • Ship-borne manipulator tail end trajectory tracking coordination control method based on full-order terminal sliding mode
  • Ship-borne manipulator tail end trajectory tracking coordination control method based on full-order terminal sliding mode

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Embodiment Construction

[0044] In order to enable those skilled in the art to better understand the solutions of the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only It is an embodiment of a part of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present invention.

[0045] It should be noted that the terms "first" and "second" in the description and claims of the present invention and the above drawings are used to distinguish similar objects, but not necessarily used to describe a specific sequence or sequence. It is to be understood that the data so used are interchangeable under appropriate ...

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Abstract

The invention provides a ship-borne manipulator tail end trajectory tracking coordination control method based on a full-order terminal sliding mode. The method comprises the steps: constructing a ship-borne manipulator mathematical model; acquiring a three-degree-of-freedom unmanned ship motion model based on the mathematical model of the ship-borne manipulator in combination with an environment interference signal; integrating the uncertain interference suffered by the ship-borne manipulator mathematical model and the three-degree-of-freedom unmanned ship motion model to obtain a final ship-borne manipulator kinetic model; designing a trajectory tracking controller based on the FOTSM on the basis of the ship-borne manipulator dynamics model, including designing an unmanned ship subsystem trajectory tracking controller based on the FOTSM and a manipulator subsystem trajectory tracking controller based on the FOTSM; and adopting the obtained unmanned ship subsystem trajectory tracking controller and the manipulator subsystem trajectory tracking controller to track and control the shipborne manipulator. According to the method, the complete dynamic state of the system can be effectively reflected, and the coordination and finite time stability between the two subsystems are ensured.

Description

technical field [0001] The present invention relates to a ship-borne manipulator terminal trajectory tracking coordinated control technology, in particular, to a ship-borne manipulator terminal trajectory tracking coordinated control method based on full-order terminal sliding mode. Background technique [0002] Accurate tracking control algorithms rely on scientific system models. For the model characteristics of surface unmanned ships and tandem manipulators, it is necessary to refer to scientific modeling methods and consider the characteristics of this structure that are different from general mobile manipulator models. The traditional mobile manipulator control idea is to regard the mobile platform and the manipulator system as two separate subsystems. When the mobile platform moves, the manipulator acts as a static load. After the mobile platform moves to a certain target point, it is fixed, and the movement of the manipulator is controlled to track the end. target tra...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 余明裕潘婷王宁王准李芊莹王云池李琳张良杰
Owner DALIAN MARITIME UNIVERSITY
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