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Finite time tracking control method and device for under-actuated unmanned ship based on integral sliding mode

A limited-time, integral sliding mode technology, applied in electric controllers, controllers with specific characteristics, etc., can solve the problems of complex steps, difficult to effectively control ship tracking, etc., to achieve short response time, accurate acquisition, and shortened response time Effect

Pending Publication Date: 2021-12-24
HARBIN ENG UNIV
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  • Abstract
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Problems solved by technology

[0004] The purpose of the present invention is to solve the problem that the traditional backstepping design steps are too complicated and the traditional PID control is difficult to effectively control the tracking of the ship in the kinematics and dynamics model of the underactuated unmanned boat

Method used

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  • Finite time tracking control method and device for under-actuated unmanned ship based on integral sliding mode
  • Finite time tracking control method and device for under-actuated unmanned ship based on integral sliding mode
  • Finite time tracking control method and device for under-actuated unmanned ship based on integral sliding mode

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Embodiment approach 1

[0045] Implementation Mode 1. Refer to figure 1 , figure 2 as well as image 3 This embodiment will be described. The finite-time tracking control method of the underactuated unmanned boat based on integral sliding mode described in this embodiment, the method includes:

[0046] (1) Establish a high-order underactuated unmanned vehicle dynamics model based on the conversion of the unmanned vehicle model;

[0047] (2) According to the high-order underactuated unmanned vehicle dynamics model, the finite time integral sliding mode controller of design;

[0048] (3) According to the high-order underactuated unmanned vehicle dynamics model and the finite time integral sliding mode controller, design a finite time tracking controller and design an adaptive law to eliminate the uncertainty of external interference;

[0049] The finite-time tracking control method of the underactuated unmanned vessel based on integral sliding mode is characterized in that, the high-order underactua...

Embodiment approach 2

[0131] Embodiment 2. A finite-time tracking control device for an underactuated unmanned ship based on integral sliding mode described in this embodiment includes: one or more processors; memory; and one or more programs, one or more of which A plurality of programs are stored in the memory and are configured to be executed by the one or more processors, the programs include a method for performing an integral sliding model based Instructions for finite-time tracking control method for underactuated unmanned vehicles.

Embodiment approach 3

[0132] Embodiment 3. The computer device described in this embodiment is characterized in that it includes a memory and a processor, the memory stores a computer program, and when the processor runs the computer program stored in the memory, the The processor executes the finite-time tracking control method of the underactuated unmanned vehicle based on integral sliding mode as described in any one of the above-mentioned embodiments.

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Abstract

The invention discloses a finite time tracking control method and device for an under-actuated unmanned ship based on an integral sliding mode, and belongs to the technical field of unmanned ship trajectory tracking control. At present, the traditional backstepping design of an under-actuated unmanned ship is too complex, and ship tracking is difficult to effectively control through traditional PID control. The tracking control method comprises the following steps: establishing a high-order under-actuated unmanned ship dynamic model obtained based on unmanned ship model conversion; designing a finite time integral sliding mode controller according to the high-order under-actuated unmanned ship dynamic model; and according to the high-order under-actuated unmanned ship dynamics model and the finite time integral sliding mode controller, designing a finite time tracking controller, and designing an adaptive law to eliminate external interference uncertainty. Compared with the prior art, the method has the beneficial effects that the backstepping design is avoided, and the calculation amount is effectively reduced; and the designed integral sliding mode controller still has good tracking precision and quick response capability under the conditions of external interference and the like.

Description

technical field [0001] The invention relates to a limited-time control method of an underactuated unmanned boat, belonging to the technical field of track tracking control of the unmanned boat. Background technique [0002] With the development of society, human beings' demand for ocean exploration continues to increase. Facing the operation requirements in complex and dangerous sea areas, the tracking control algorithm of underactuated unmanned vehicles has become the mainstream research direction in the academic circle. Compared with fully actuated unmanned vehicles, The underactuated system has the outstanding advantages of high speed, high adaptability and low cost, so it is undoubtedly of great practical significance to study the problem of tracking control of unmanned vehicles. [0003] However, with the model uncertainty and external disturbance brought by the increasingly complex operating environment, the controller design of the underactuated system becomes a diffi...

Claims

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Application Information

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IPC IPC(8): G05B11/42
CPCG05B11/42Y02T90/00
Inventor 黄兵郑帅张恩华张磊周彬朱骋毛磊罗靖
Owner HARBIN ENG UNIV
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