CN111830832B - Bionic gliding machine dolphin plane path tracking method and system - Google Patents

Bionic gliding machine dolphin plane path tracking method and system Download PDF

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CN111830832B
CN111830832B CN202010731204.8A CN202010731204A CN111830832B CN 111830832 B CN111830832 B CN 111830832B CN 202010731204 A CN202010731204 A CN 202010731204A CN 111830832 B CN111830832 B CN 111830832B
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dolphin
gliding
underwater
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CN111830832A (en
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喻俊志
吴正兴
王健
张鹏飞
谭民
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Institute of Automation of Chinese Academy of Science
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
    • G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
    • B63C11/52—Tools specially adapted for working underwater, not otherwise provided for

Abstract

The invention relates to a bionic gliding robot dolphin plane path tracking method and a system, wherein the path tracking method comprises the following steps: determining a target tracking point of the bionic gliding dolphin based on a pre-planned path point and the current underwater position of the bionic gliding dolphin; determining the advancing thrust and yaw moment of the bionic gliding dolphin based on the target tracking point and the current underwater position of the bionic gliding dolphin; and controlling the bionic gliding dolphin to move underwater according to the forward thrust and the yaw moment, and updating the current underwater position of the bionic gliding dolphin so as to adjust the underwater motion track of the bionic gliding dolphin and finally enable the motion track to gradually converge on an expected curve formed by pre-planned path points, thereby realizing accurate path tracking of the bionic gliding dolphin.

Description

Bionic gliding machine dolphin plane path tracking method and system
Technical Field
The invention relates to the technical field of underwater robot control, in particular to a dolphin plane path tracking method and system for a bionic gliding robot.
Background
In nature, marine life develops excellent swimming ability through long-term natural evolution. With the vigorous development of the robot technology, various underwater bionic platforms appear in succession, and a new means and a new way are provided for the research of the bionic propulsion mechanism and the development of the engineering technology. By mimicking the whale dolphin organism, the robotic dolphin exhibits extraordinary mobility by virtue of its efficient swimming pattern.
In recent years, in order to improve the cruising ability of the robotic dolphin, scientific researchers introduce a buoyancy adjusting mechanism, invent the bionic gliding robotic dolphin, so that the robotic dolphin has the advantages of high maneuverability and strong cruising ability, and expand the range of practical application.
The path tracking problem is always a research hotspot of underwater robots, and the aim of the path tracking problem is to generate an expected curve according to a planned path, so that the robot can start from any point, design a tracking controller and gradually converge on the curve. The path tracking technology is an important component of a navigation control system, and has important significance for smoothly completing marine operation.
With respect to the technology, there are many methods widely used in underwater robot research. Fossen et al have designed a line-of-sight navigation method to minimize cross-tracking errors, then have completed controller design based on Backstepping (BP), and have verified algorithm validity through experimentation. Wang et al provide a BP-based tracking controller for biomimetic underwater vehicle circumferential and linear tracking and obtain parameters of actual heave fins through a fuzzy logic model. Sun et al propose a Proportional-integral (PI) Sliding Mode Control (SMC) algorithm, enhance the robustness of the under-actuated underwater robot system, and improve the immunity to interference. Jia et al propose a self-adaptive output feedback controller for the problem of track tracking of an under-actuated underwater robot with specified performance, and verify the effectiveness of the proposed method through simulation. However, the above tracking control method has a problem of unsmooth line-of-sight navigation or a problem of singular yaw angle, thereby causing inaccurate path tracking.
Disclosure of Invention
In order to solve the problems in the prior art, namely to realize accurate path tracking, the invention aims to provide a dolphin plane path tracking method and system for a bionic gliding machine.
In order to solve the technical problems, the invention provides the following scheme:
a bionic gliding machine dolphin plane path tracking method comprises the following steps:
determining a target tracking point of the bionic gliding dolphin based on a pre-planned path point and the current underwater position of the bionic gliding dolphin;
determining the advancing thrust and yaw moment of the bionic gliding dolphin based on the target tracking point and the current underwater position of the bionic gliding dolphin;
and controlling the bionic gliding dolphin to move underwater according to the forward thrust and the yaw moment, updating the current position of the bionic gliding dolphin underwater, and finally enabling the motion track of the bionic gliding dolphin underwater to gradually converge on an expected curve formed by pre-planned path points.
Optionally, the determining a target tracking point of the biomimetic gliding dolphin based on the pre-planned path point and the current underwater position of the biomimetic gliding dolphin specifically includes:
for any two adjacent path points pk、pk+1：
Based on the current target tracking point, a motion virtual circle is set by taking the current position of the bionic gliding dolphin under water as the center of a circle and the radius as gamma, and a path point p is takenkAs a circle center and has a radius of RrSetting a target virtual circle:
when the bionic gliding dolphin enters the path point pkIn the target virtual circle, updating the current target tracking point as a motion virtual circle and a straight line segment pkpk+1Until the next path point p when the bionic gliding dolphin enters the bionic gliding dolphink+1Within the target virtual circle of (1).
Optionally, the determining the forward thrust and the yaw moment of the biomimetic gliding robotic dolphin based on the target tracking point and the current underwater position of the biomimetic gliding robotic dolphin specifically includes:
determining a tracking error according to the current position coordinate and a target tracking point, wherein the tracking error variable comprises a target position error and a target yaw angle error;
determining a yaw moment according to the target yaw angle error based on the Lyapunov function;
and determining forward thrust according to the target position error based on the Lyapunov function.
Optionally, the yaw moment τ is determined according to the following formular：
Figure BDA0002603409080000031
Figure BDA0002603409080000032
Figure BDA0002603409080000033
Figure BDA0002603409080000034
Figure BDA0002603409080000035
Figure BDA0002603409080000036
re＝r-α1，
Figure BDA0002603409080000041
Figure BDA0002603409080000042
Wherein M ═ diag (M)11,m22,m33) Representing a quality parameter matrix; d ═ diag (D)11,d22,d33) Representing a damping parameter matrix;
Figure BDA0002603409080000043
which represents the value of the estimate,
Figure BDA0002603409080000044
representing an estimation error; u represents the linear velocity of the plane along the x-axis, v represents the linear velocity of the plane along the y-axis, r represents the angular velocity of the plane z-axis, reIndicates error of angular velocity ueRepresenting the linear velocity error, t represents a time variable; (x, y) is the current position coordinate of the bionic gliding dolphin under water, and psi represents the yaw angle; (x)d,yd) Is the target position coordinate of the bionic gliding dolphin underwater, psidRepresenting a target yaw angle; (x)e,ye) Is the position error of the bionic gliding dolphin underwater, psieRepresenting a target yaw angle error; sign (·) represents a sign function,
Figure BDA0002603409080000045
denotes the derivation, α1Representing a stabilization function, k1、k2Is a manually set normal number, #LIs a normal number used to limit the value range of the state variable.
Alternatively, the forward thrust τ is determined according to the following equationu：
Figure BDA0002603409080000046
Figure BDA0002603409080000047
Figure BDA0002603409080000049
Figure BDA00026034090800000410
Figure BDA0002603409080000051
ue＝u-α2，
Figure BDA0002603409080000052
Figure BDA0002603409080000053
Figure BDA0002603409080000054
Wherein M ═ diag (M)11,m22,m33) Representing a quality parameter matrix; d ═ diag (D)11,d22,d33) Representing a damping parameter matrix;
Figure BDA0002603409080000055
which represents the value of the estimate,
Figure BDA0002603409080000056
representing an estimation error; u represents the linear velocity of the plane along the x-axis, v represents the linear velocity of the plane along the y-axis, r represents the angular velocity of the plane z-axis, reIndicates error of angular velocity ueRepresenting the linear velocity error, t represents a time variable; (x, y) is the current position coordinate of the bionic gliding dolphin under water, and psi represents the yaw angle; (x)d,yd) Is the target position coordinate of the bionic gliding dolphin underwater, psidRepresenting a target yaw angle; (x)e,ye) Is the position error of the bionic gliding dolphin underwater, psieRepresenting a target yaw angle error; e.g. of the typexySigma is less than or equal to the value of sigma and represents a set normal number; k is a radical of1、k2、k3、k4Is a normal number which is set manually,
Figure BDA0002603409080000057
the derivative is represented and the stabilization function is represented.
α2Optionally, the determining the forward thrust and yaw moment of the biomimetic gliding robotic dolphin based on the target tracking point and the current position of the biomimetic gliding robotic dolphin under water further comprises:
using a tracking differentiator for smoothing the derivative of the target tracking point and the stabilization function alpha2So as to correct the advancing thrust of the bionic gliding dolphin.
Optionally, the controlling the bionic gliding dolphin to move underwater according to the forward thrust and the yaw moment, and updating the current position of the bionic gliding dolphin underwater specifically includes;
determining the underwater dynamic model of the bionic gliding dolphin based on the current underwater position coordinates of the bionic gliding dolphin
Figure BDA0002603409080000061
Figure BDA0002603409080000062
Wherein (x, y) is the current position coordinate of the bionic gliding dolphin underwater, psi represents the yaw angle, u represents the linear velocity of the plane along the x axis, v represents the linear velocity of the plane along the y axis, r represents the angular velocity of the plane z axis,
Figure BDA0002603409080000063
representing a derivation;
based on the dynamic model, neglecting pitching and rolling motions to obtain the underwater plane dynamic model of the bionic gliding dolphin
Figure BDA0002603409080000064
Figure BDA0002603409080000066
Wherein M ═ diag (M)11,m22,m33) Representing a quality parameter matrix; d ═ diag (D)11,d22,d33) Representing a damping parameter matrix; diag (·) denotes a diagonal matrix; tau isuIndicating forward thrust, τrRepresenting a yaw moment;
and controlling and adjusting the plane dynamics model according to the forward thrust and the yaw moment, and updating the current position of the bionic gliding dolphin underwater.
In order to solve the technical problems, the invention also provides the following scheme:
a bionic gliding machine dolphin planar path tracking system, comprising:
the first determining unit is used for determining a target tracking point of the bionic gliding dolphin based on a pre-planned path point and the current underwater position of the bionic gliding dolphin;
the second determination unit is used for determining the forward thrust and yaw moment of the bionic gliding dolphin based on the target tracking point and the current underwater position of the bionic gliding dolphin;
and the adjusting unit is used for controlling the bionic gliding dolphin to move underwater according to the forward thrust and the yaw moment, updating the current position of the bionic gliding dolphin underwater, and finally enabling the motion track of the bionic gliding dolphin underwater to gradually converge on an expected curve formed by pre-planned path points.
In order to solve the technical problems, the invention also provides the following scheme:
a bionic gliding machine dolphin planar path tracking system, comprising:
a processor; and
a memory arranged to store computer executable instructions that, when executed, cause the processor to:
determining a target tracking point of the bionic gliding dolphin based on a pre-planned path point and the current underwater position of the bionic gliding dolphin;
determining the advancing thrust and yaw moment of the bionic gliding dolphin based on the target tracking point and the current underwater position of the bionic gliding dolphin;
and controlling the bionic gliding dolphin to move underwater according to the forward thrust and the yaw moment, updating the current position of the bionic gliding dolphin underwater, and finally enabling the motion track of the bionic gliding dolphin underwater to gradually converge on an expected curve formed by pre-planned path points.
In order to solve the technical problems, the invention also provides the following scheme:
a computer-readable storage medium storing one or more programs that, when executed by an electronic device including a plurality of application programs, cause the electronic device to:
determining a target tracking point of the bionic gliding dolphin based on a pre-planned path point and the current underwater position of the bionic gliding dolphin;
determining the advancing thrust and yaw moment of the bionic gliding dolphin based on the target tracking point and the current underwater position of the bionic gliding dolphin;
and controlling the bionic gliding dolphin to move underwater according to the forward thrust and the yaw moment, updating the current position of the bionic gliding dolphin underwater, and finally enabling the motion track of the bionic gliding dolphin underwater to gradually converge on an expected curve formed by pre-planned path points.
According to the embodiment of the invention, the invention discloses the following technical effects:
the method comprises the steps of positioning the current underwater position of the bionic gliding dolphin in real time, determining a target tracking point of the bionic gliding dolphin and the forward thrust and the yaw moment of the bionic gliding dolphin through a pre-planned path point, controlling the bionic gliding dolphin to move underwater according to the forward thrust and the yaw moment, updating the current underwater position of the bionic gliding dolphin to adjust the underwater motion track of the bionic gliding dolphin, and finally enabling the motion track to gradually converge on an expected curve formed by the pre-planned path point.
Drawings
FIG. 1 is a flow chart of the method for tracking the dolphin plane path of the bionic gliding robot according to the present invention;
FIG. 2 is a schematic diagram of the determination of target tracking points;
FIG. 3 is a schematic block diagram of the bionic gliding dolphin planar path tracking system according to the present invention.
Description of the symbols:
a first determining unit-1, a second determining unit-2, and an adjusting unit-3.
Detailed Description
Preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only for explaining the technical principle of the present invention, and are not intended to limit the scope of the present invention.
The invention aims to provide a bionic gliding dolphin plane path tracking method, which is characterized in that the current underwater position of the bionic gliding dolphin is positioned in real time, the target tracking point of the bionic gliding dolphin, the advancing thrust and the yaw moment of the bionic gliding dolphin are determined through pre-planned path points, the bionic gliding dolphin is controlled to move underwater according to the advancing thrust and the yaw moment, the current underwater position of the bionic gliding dolphin is updated, the underwater motion track of the bionic gliding dolphin is adjusted, and finally the motion track is gradually converged to an expected curve formed by the pre-planned path points.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
As shown in FIG. 1, the bionic gliding robot dolphin plane path tracking method of the invention comprises the following steps:
step 100: and determining a target tracking point of the bionic gliding dolphin based on a pre-planned path point and the current underwater position of the bionic gliding dolphin.
Step 200: and determining the advancing thrust and the yawing moment of the bionic gliding dolphin based on the target tracking point and the current underwater position of the bionic gliding dolphin.
Step 300: and controlling the bionic gliding dolphin to move underwater according to the forward thrust and the yaw moment, updating the current position of the bionic gliding dolphin underwater, and finally enabling the motion track of the bionic gliding dolphin underwater to gradually converge on an expected curve formed by pre-planned path points.
In step 100, an improved gaze guidance method is used to change the selection mode of the gaze point according to the smoothness of the switching phase.
Specifically, as shown in fig. 2, the determining a target tracking point of the biomimetic gliding dolphin based on a pre-planned path point and a current position of the biomimetic gliding dolphin under water includes:
for any two adjacent path points pk、pk+1：
Based on the current target tracking point, a motion virtual circle is set by taking the current position of the bionic gliding dolphin under water as the center of a circle and the radius as gamma, and a path point p is takenkAs a circle center and has a radius of RrSetting a target virtual circle:
when the bionic gliding dolphin enters the path point pkIn the target virtual circle, updating the current target tracking point as a motion virtual circle and a straight line segment pkpk+1Until the next path point p when the bionic gliding dolphin enters the bionic gliding dolphink+1Within the target virtual circle of (1).
Where k 1,2, N-1, N represents the total number of waypoints.
Preferably, in step 200, the determining the forward thrust and the yaw moment of the biomimetic gliding robotic dolphin based on the target tracking point and the current underwater position of the biomimetic gliding robotic dolphin specifically includes:
step 210: determining a tracking error according to the current position coordinate and a target tracking point, wherein the tracking error variable comprises a target position error and a target yaw angle error;
step 220: determining a yaw moment according to the target yaw angle error based on the Lyapunov function;
step 230: and determining forward thrust according to the target position error based on the Lyapunov function.
Determining yaw moment τ according to the following equationr：
Figure BDA0002603409080000101
Figure BDA0002603409080000102
Figure BDA0002603409080000103
Figure BDA0002603409080000111
Figure BDA0002603409080000112
Figure BDA0002603409080000113
re＝r-α1，
Figure BDA0002603409080000114
Figure BDA0002603409080000115
Wherein M ═ diag (M)11,m22,m33) Representing a quality parameter matrix; d ═ diag (D)11,d22,d33) Representing a damping parameter matrix;
Figure BDA0002603409080000116
which represents the value of the estimate,
Figure BDA0002603409080000117
representing an estimation error; u represents the linear velocity of the plane along the x-axis, v represents the linear velocity of the plane along the y-axis, r represents the angular velocity of the plane z-axis, reIndicating error in angular velocity, when t indicatesM.o. ueIndicating a linear velocity error; (x, y) is the current position coordinate of the bionic gliding dolphin under water, and psi represents the yaw angle; (x)d,yd) Is the target position coordinate of the bionic gliding dolphin underwater, psidRepresenting a target yaw angle; (x)e,ye) Is the position error of the bionic gliding dolphin underwater, psieRepresenting a target yaw angle error; sign (·) represents a sign function,
Figure BDA0002603409080000118
denotes the derivation, α1Representing a stabilization function, k1、k2Is a manually set normal number, #LIs a normal number used to limit the value range of the state variable.
Forward thrust τ is determined according to the following equationu：
Figure BDA0002603409080000119
Figure BDA00026034090800001110
Figure BDA0002603409080000121
Figure BDA0002603409080000122
Figure BDA0002603409080000123
ue＝u-α2，
Figure BDA0002603409080000124
Figure BDA0002603409080000125
Figure BDA0002603409080000127
Wherein M ═ diag (M)11,m22,m33) Representing a quality parameter matrix; d ═ diag (D)11,d22,d33) Representing a damping parameter matrix;
Figure BDA0002603409080000128
which represents the value of the estimate,
Figure BDA0002603409080000129
representing an estimation error; u represents the planar linear velocity, v represents the planar linear velocity along the y-axis, r represents the planar z-axis angular velocity, reIndicates error of angular velocity ueRepresenting the linear velocity error, t represents a time variable; (x, y) is the current position coordinate of the bionic gliding dolphin under water, and psi represents the yaw angle; (x)d,yd) Is the target position coordinate of the bionic gliding dolphin underwater, psidRepresenting a target yaw angle; (x)e,ye) Is the position error of the bionic gliding dolphin underwater, psieRepresenting a target yaw angle error; e.g. of the typexySigma is less than or equal to the value of sigma and represents a set normal number; k is a radical of1、k2、k3、k4Is a normal number which is set manually,
Figure BDA00026034090800001210
denotes the derivation, α2A stabilization function is represented.
Further, in step 200, determining the forward thrust and yaw moment of the bionic gliding dolphin based on the target tracking point and the current position of the bionic gliding dolphin under the water further includes:
using tracking differentiators for smoothing target tracking pointsDerivative and stabilization function alpha2So as to correct the advancing thrust of the bionic gliding dolphin.
Specifically, the derivative of the target tracking point and the stabilization function α are smoothed by a tracking differentiator2By smoothing these two points, stable forward thrust can be obtained.
In step 300, controlling the bionic gliding dolphin to move underwater according to the forward thrust and the yaw moment, and updating the current position of the bionic gliding dolphin underwater, specifically comprising;
step 310: determining the underwater dynamic model of the bionic gliding dolphin based on the current underwater position coordinates of the bionic gliding dolphin
Figure BDA0002603409080000131
Figure BDA0002603409080000132
Wherein (x, y) is the current position coordinate of the bionic gliding dolphin underwater, psi represents the yaw angle, v represents the linear velocity of the plane along the y axis, r represents the angular velocity of the plane z axis,
Figure BDA0002603409080000133
representing a derivation;
step 320: based on the dynamic model, neglecting pitching and rolling motions to obtain the underwater plane dynamic model of the bionic gliding dolphin
Figure BDA0002603409080000134
Figure BDA0002603409080000135
Wherein M ═ diag (M)11,m22,m33) Representing a quality parameter matrix; d ═ diag (D)11,d22,d33) Representing a damping parameter matrix;diag (·) denotes a diagonal matrix; tau isuIndicating forward thrust, τrRepresenting a yaw moment;
step 330: and controlling and adjusting the plane dynamics model according to the forward thrust and the yaw moment, and updating the current position of the bionic gliding dolphin underwater.
The following describes the bionic gliding robot dolphin plane path tracking method in detail by a specific embodiment:
the bionic gliding dolphin is mainly composed of a waist tail device and pectoral fin devices, waist tail joints are driven by motors, and pectoral fins on two sides are driven by steering engines. In the present invention, the body-caudad fin (BCF) of the lumbar-caudal device is mainly used to provide thrust, and the mid-fin, mid-fin (MPF) of the pectoral device is used to generate steering torque.
The bionic gliding machine dolphin plane path tracking method comprises the following steps:
step 1, obtaining a plane dynamics model by neglecting pitching and rolling motions.
For the planar path tracking problem, firstly, defining real-time planar coordinates of the robot as (x, y), a yaw angle as ψ, and planar linear velocity and yaw angular velocity vectors as (u, v, r), a kinematic model of the underwater robot can be derived as follows:
Figure BDA0002603409080000141
then, the pitching and rolling motions are ignored to obtain a plane dynamic model
Figure BDA0002603409080000142
Figure BDA0002603409080000143
Wherein M ═ diag (M)11,m22,m33) Representing a quality parameter matrix; d ═ diag (D)11,d22,d33) Representing a damping parameter matrix; diag (·) denotes a diagonal matrix; tau isuAnd τrRepresenting forward thrust and yaw moment, respectively.
And 2, acquiring smooth target tracking points and target yaw angles by improving a sight navigation method.
And 3, designing a yaw controller and a speed controller by deducing a self-adaptive backstepping control law.
In the process, the design of the Lyapunov function is mainly used as a criterion, the convergence of the system is ensured by deducing a backstepping control law, and the specific design principle follows the following steps:
step 3.1, calculating tracking error variables as follows:
Figure BDA0002603409080000151
wherein (x)d,yd) Representing a target tracking point; psidRepresenting the target yaw angle:
Figure BDA0002603409080000152
wherein sign (·) represents a sign function;
step 3.2, selecting the yaw angle error as a state variable z according to the tracking error variable1：
Figure BDA0002603409080000153
The design goal of the controller is to make z1→ 0, for which the Barrier Lyapunov function V is thus defined1：
Figure BDA0002603409080000161
Figure BDA0002603409080000162
Wherein psiLIs a normal number used to limit the value range of the state variable. Therefore, when | z1|＜ψLWhen said V is1Is positive. Then, define re＝r-α1And a stabilizing function alpha1：
Figure BDA0002603409080000163
Wherein k is1Is a normal number set manually. Applying the said stabilization function alpha1Substitution into
Figure BDA00026034090800001613
In (1), obtaining:
Figure BDA0002603409080000164
step 3.3, in order to
Figure BDA0002603409080000165
Constant negative, therefore continuing to calm reAnd defining a Lyapunov function V2The following were used:
Figure BDA0002603409080000166
Figure BDA0002603409080000167
then, by substituting into a plane dynamics model, the method obtains
Figure BDA0002603409080000168
Figure BDA0002603409080000169
Will be described in
Figure BDA00026034090800001610
Substitution into
Figure BDA00026034090800001611
In (b), one can obtain:
Figure BDA00026034090800001612
because the model damping parameter is difficult to accurately obtain, the invention provides a self-adaptive control algorithm to estimate the parameter, and the estimated value is
Figure BDA0002603409080000171
Defining estimation error
Figure BDA0002603409080000172
And assuming that the parameter does not change in a short time, i.e.
Figure BDA0002603409080000173
Therefore, the lyapunov function V continues to be defined for the estimation error3The following were used:
Figure BDA0002603409080000174
Figure BDA0002603409080000175
determining yaw moment τr：
Figure BDA0002603409080000176
Wherein k is2Is a normal number set manually. Will taurSubstitution into
Figure BDA00026034090800001714
In (1), obtaining:
Figure BDA0002603409080000177
thus, by defining the parameter estimates as:
Figure BDA0002603409080000178
and then can obtain
Figure BDA0002603409080000179
Then, according to the following constraints:
(1)V＞0；
(2)
Figure BDA00026034090800001710
wherein g (t) is not less than 0;
(3) if it is not
Figure BDA00026034090800001711
Is consistently continuously bounded.
Then
Figure BDA00026034090800001712
Then g (t) ═ k1z1 2+k2re 2By passing
Figure BDA00026034090800001713
The yaw error may be made to eventually converge to 0.
Step 3.4, according to the sight line navigation method and the tracking error, e can be obtainedxyσ, where σ is a set normal number (e.g., σ is a small normal number). Therefore, in order to exy→ σ, define lieProbov function V4The following were used:
Figure BDA0002603409080000181
Figure BDA0002603409080000182
then, define ue＝u-α2And a stabilizing function alpha2：
Figure BDA0002603409080000183
Wherein k is3Is a normal number set manually. By setting an initial yaw angle error, i.e. psi, according to constraintse(0) Less than pi/2, can ensure psie(t) < π/2, t > 0 always holds, thus avoiding cos-1(ψe) The singular phenomenon of (1). Then, by applying a stabilization function α2Substitution into
Figure BDA0002603409080000184
In (1), obtaining:
Figure BDA0002603409080000185
to make it possible to
Figure BDA0002603409080000186
Constant load, continue to calm ueAnd defining a Lyapunov function V5The following were used:
Figure BDA0002603409080000187
Figure BDA0002603409080000188
determining forward thrust τu：
Figure BDA0002603409080000189
Wherein:
Figure BDA00026034090800001810
k4is a normal number set manually. Obtaining:
Figure BDA00026034090800001811
by passing
Figure BDA0002603409080000193
The speed control system error will converge to 0.
Step 3.5, for
Figure BDA0002603409080000191
And alpha2And applying a tracking differentiator to make the change smoother so as to reduce the disturbance sensitivity, wherein the discrete form of the tracking differentiator is as follows:
Figure BDA0002603409080000192
wherein h represents a sampling time; xi1Representing the reference term xir(k) The tracking signal of (2); xi2Is representative of xi1A derivative of (a); fhan (·) represents a constructed nonlinear function; delta0And h0The tracking and filter coefficients are represented separately.
Smoothing derivative of target tracking point and stabilizing function alpha by tracking differentiator2By smoothing these two points, a stable forward thrust is then obtained.
The plane path tracking method of the bionic gliding dolphin machine firstly obtains a plane dynamic model of the gliding dolphin by neglecting pitching and rolling motions. Then, the expected path is converted into a target tracking point and a target yaw angle by using an improved sight line navigation method, and a tracking differentiator is applied to the target tracking point, so that the change of the target tracking point is smoother. And finally, deducing forward thrust and yaw moment by using a backstepping method. The problem of singular yaw angle in a speed control law is solved by designing a Barrier Lyapunov (Barrier Lyapunov) function, adaptive control is applied to unknown model parameters, and control robustness is further improved.
In addition, the invention also provides a bionic gliding machine dolphin plane path tracking system which can realize accurate path tracking.
As shown in fig. 3, the bionic gliding dolphin plane path tracking system of the present invention includes a first determining unit 1, a second determining unit 2 and an adjusting unit 3.
Specifically, the first determining unit 1 is configured to determine a target tracking point of the biomimetic gliding dolphin based on a pre-planned path point and a current underwater position of the biomimetic gliding dolphin;
the second determination unit 2 determines the forward thrust and yaw moment of the bionic gliding dolphin based on the target tracking point and the current underwater position of the bionic gliding dolphin;
the adjusting unit 3 is used for controlling the bionic gliding dolphin to move underwater according to the forward thrust and the yaw moment, updating the current position of the bionic gliding dolphin underwater, and finally enabling the motion track of the bionic gliding dolphin underwater to gradually converge on an expected curve formed by pre-planned path points.
In addition, the invention also provides a bionic gliding robot dolphin plane path tracking system, which comprises:
a processor; and
a memory arranged to store computer executable instructions that, when executed, cause the processor to:
determining a target tracking point of the bionic gliding dolphin based on a pre-planned path point and the current underwater position of the bionic gliding dolphin;
determining the advancing thrust and yaw moment of the bionic gliding dolphin based on the target tracking point and the current underwater position of the bionic gliding dolphin;
and controlling the bionic gliding dolphin to move underwater according to the forward thrust and the yaw moment, updating the current position of the bionic gliding dolphin underwater, and finally enabling the motion track of the bionic gliding dolphin underwater to gradually converge on an expected curve formed by pre-planned path points.
Preferably, the present invention also provides a computer-readable storage medium storing one or more programs that, when executed by an electronic device including a plurality of application programs, cause the electronic device to perform operations of:
determining a target tracking point of the bionic gliding dolphin based on a pre-planned path point and the current underwater position of the bionic gliding dolphin;
determining the advancing thrust and yaw moment of the bionic gliding dolphin based on the target tracking point and the current underwater position of the bionic gliding dolphin;
and controlling the bionic gliding dolphin to move underwater according to the forward thrust and the yaw moment, updating the current position of the bionic gliding dolphin underwater, and finally enabling the motion track of the bionic gliding dolphin underwater to gradually converge on an expected curve formed by pre-planned path points.
Compared with the prior art, the bionic gliding machine dolphin plane path tracking system and the computer readable storage medium have the same beneficial effects as the bionic gliding machine dolphin plane path tracking method, and are not described again here.
So far, the technical solutions of the present invention have been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of the present invention is obviously not limited to these specific embodiments. Equivalent changes or substitutions of related technical features can be made by those skilled in the art without departing from the principle of the invention, and the technical scheme after the changes or substitutions can fall into the protection scope of the invention.

Claims (8)

1. A bionic gliding machine dolphin plane path tracking method is characterized by comprising the following steps:
determining a target tracking point of the bionic gliding dolphin based on a pre-planned path point and the current underwater position of the bionic gliding dolphin;
determining the advancing thrust and yaw moment of the bionic gliding dolphin based on the target tracking point and the current underwater position of the bionic gliding dolphin; the method specifically comprises the following steps:
determining a tracking error according to the current position coordinate and a target tracking point, wherein the tracking error variable comprises a target position error and a target yaw angle error;
based on the Lyapunov function, determining the yaw moment tau according to the target yaw angle error and the following formular：
Figure FDA0003106180300000011
Figure FDA0003106180300000012
Figure FDA0003106180300000013
z1＝ψe
Figure FDA0003106180300000014
xe＝x-xd
ye＝y-yd，
ψe＝ψ-ψd
Figure FDA0003106180300000021
re＝r-α1，
Figure FDA0003106180300000022
Figure FDA0003106180300000023
Wherein M ═ diag (M)11,m22,m33) Representing a quality parameter matrix; d ═ diag (D)11,d22,d33) Representing a damping parameter matrix;
Figure FDA0003106180300000024
which represents the value of the estimate,
Figure FDA0003106180300000025
representing an estimation error; u represents the linear velocity of the plane along the x-axis, v represents the linear velocity of the plane along the y-axis, r represents the angular velocity of the plane z-axis, reIndicates the error of angular velocity ueRepresenting the linear velocity error, t represents a time variable; (x, y) is the current position coordinate of the bionic gliding dolphin under water, and psi represents the yaw angle; (x)d,yd) Is the target position coordinate of the bionic gliding dolphin underwater, psidRepresenting a target yaw angle; (x)e,ye) Is the position error of the bionic gliding dolphin underwater, psieRepresenting a target yaw angle error;sign (·) represents a sign function,
Figure FDA0003106180300000026
denotes the derivation, α1Representing a stabilization function, k1、k2Is a manually set normal number, #LIs a normal number used for limiting the value range of the state variable;
determining forward thrust according to the target position error based on a Lyapunov function;
and controlling the bionic gliding dolphin to move underwater according to the forward thrust and the yaw moment, updating the current position of the bionic gliding dolphin underwater, and finally enabling the motion track of the bionic gliding dolphin underwater to gradually converge on an expected curve formed by pre-planned path points.
2. The method for tracking the planar path of the biomimetic gliding robotic dolphin according to claim 1, wherein the determining the target tracking point of the biomimetic gliding robotic dolphin based on the pre-planned path point and the current underwater position of the biomimetic gliding robotic dolphin specifically comprises:
for any two adjacent path points pk、pk+1：
Based on the current target tracking point, a motion virtual circle is set by taking the current position of the bionic gliding dolphin under water as the center of a circle and the radius as gamma, and a path point p is takenkAs a circle center and has a radius of RrSetting a target virtual circle:
when the bionic gliding dolphin enters the path point pkIn the target virtual circle, updating the current target tracking point as a motion virtual circle and a straight line segment pkpk+1Until the next path point p when the bionic gliding dolphin enters the bionic gliding dolphink+1Within the target virtual circle of (1).
3. The biomimetic gliding machine dolphin planar path tracking method according to claim 1, wherein the forward thrust τ is determined according to the following formulau：
Figure FDA0003106180300000031
Figure FDA0003106180300000032
Figure FDA0003106180300000033
xe＝x-xd
ye＝y-yd
ψe＝ψ-ψd，
Figure FDA0003106180300000041
z1＝ψe
Figure FDA0003106180300000042
ue＝u-α2，
Figure FDA0003106180300000043
Figure FDA0003106180300000044
Figure FDA0003106180300000045
Wherein M ═ diag (M)11,m22,m33) Representing a quality parameter matrix; d ═ diag (D)11,d22,d33) Representing a damping parameter matrix;
Figure FDA0003106180300000046
which represents the value of the estimate,
Figure FDA0003106180300000047
representing an estimation error; u represents the linear velocity of the plane along the x-axis, v represents the linear velocity of the plane along the y-axis, r represents the angular velocity of the plane z-axis, reIndicates the error of angular velocity ueRepresenting the linear velocity error, t represents a time variable; (x, y) is the current position coordinate of the bionic gliding dolphin under water, and psi represents the yaw angle; (x)d,yd) Is the target position coordinate of the bionic gliding dolphin underwater, psidRepresenting a target yaw angle; (x)e,ye) Is the position error of the bionic gliding dolphin underwater, psieRepresenting a target yaw angle error; e.g. of the typexySigma is less than or equal to the value of sigma and represents a set normal number; k is a radical of1、k2、k3、k4Is a normal number which is set manually,
Figure FDA0003106180300000048
denotes the derivation, α2A stabilization function is represented.
4. The method for tracking the planar path of the biomimetic gliding robotic dolphin according to claim 3, wherein the determining the forward thrust and yaw moment of the biomimetic gliding robotic dolphin based on the target tracking point and the current position of the biomimetic gliding robotic dolphin under water further comprises:
using a tracking differentiator for smoothing the derivative of the target tracking point and the stabilization function alpha2So as to correct the advancing thrust of the bionic gliding dolphin.
5. The biomimetic gliding machine dolphin planar path tracking method according to any one of claims 1-4, wherein the controlling the biomimetic gliding machine dolphin to move underwater according to the forward thrust and yaw moment, updating a current position of the biomimetic gliding machine dolphin underwater, specifically comprises;
determining the underwater dynamic model of the bionic gliding dolphin based on the current underwater position coordinates of the bionic gliding dolphin
Figure FDA0003106180300000051
Figure FDA0003106180300000052
Figure FDA0003106180300000053
Figure FDA0003106180300000054
Wherein (x, y) is the current position coordinate of the bionic gliding dolphin underwater, psi represents the yaw angle, u represents the linear velocity of the plane along the x axis, v represents the linear velocity of the plane along the y axis, r represents the angular velocity of the plane z axis,
Figure FDA0003106180300000055
representing a derivation;
based on the dynamic model, neglecting pitching and rolling motions to obtain the underwater plane dynamic model of the bionic gliding dolphin
Figure FDA0003106180300000056
Figure FDA0003106180300000061
Figure FDA0003106180300000062
Figure FDA0003106180300000063
Wherein M ═ diag (M)11,m22,m33) Representing a quality parameter matrix; d ═ diag (D)11,d22,d33) Representing a damping parameter matrix; diag (·) denotes a diagonal matrix; tau isuIndicating forward thrust, τrRepresenting a yaw moment;
and controlling and adjusting the plane dynamics model according to the forward thrust and the yaw moment, and updating the current position of the bionic gliding dolphin underwater.
6. A biomimetic gliding machine dolphin planar path tracking system, comprising:
the first determining unit is used for determining a target tracking point of the bionic gliding dolphin based on a pre-planned path point and the current underwater position of the bionic gliding dolphin;
the second determination unit is used for determining the forward thrust and yaw moment of the bionic gliding dolphin based on the target tracking point and the current underwater position of the bionic gliding dolphin; the method specifically comprises the following steps:
determining a tracking error according to the current position coordinate and a target tracking point, wherein the tracking error variable comprises a target position error and a target yaw angle error;
based on the Lyapunov function, determining the yaw moment tau according to the target yaw angle error and the following formular：
Figure FDA0003106180300000071
Figure FDA0003106180300000072
Figure FDA0003106180300000073
Figure FDA0003106180300000074
xe＝x-xd
ye＝y-yd，
ψe＝ψ-ψd
Figure FDA0003106180300000075
re＝r-α1，
Figure FDA0003106180300000076
Figure FDA0003106180300000077
Wherein M ═ diag (M)11,m22,m33) Representing a quality parameter matrix; d ═ diag (D)11,d22,d33) Representing a damping parameter matrix;
Figure FDA0003106180300000078
which represents the value of the estimate,
Figure FDA0003106180300000079
representing an estimation error; u representsLinear velocity of the plane along the x-axis, v represents linear velocity of the plane along the y-axis, r represents angular velocity of the plane along the z-axis, reIndicates the error of angular velocity ueRepresenting the linear velocity error, t represents a time variable; (x, y) is the current position coordinate of the bionic gliding dolphin under water, and psi represents the yaw angle; (x)d,yd) Is the target position coordinate of the bionic gliding dolphin underwater, psidRepresenting a target yaw angle; (x)e,ye) Is the position error of the bionic gliding dolphin underwater, psieRepresenting a target yaw angle error; sign (·) represents a sign function,
Figure FDA0003106180300000081
denotes the derivation, α1Representing a stabilization function, k1、k2Is a manually set normal number, #LIs a normal number used for limiting the value range of the state variable;
determining forward thrust according to the target position error based on a Lyapunov function;
and the adjusting unit is used for controlling the bionic gliding dolphin to move underwater according to the forward thrust and the yaw moment, updating the current position of the bionic gliding dolphin underwater, and finally enabling the motion track of the bionic gliding dolphin underwater to gradually converge on an expected curve formed by pre-planned path points.
7. A bionic gliding machine dolphin planar path tracking system, comprising:
a processor; and
a memory arranged to store computer executable instructions that, when executed, cause the processor to:
determining a target tracking point of the bionic gliding dolphin based on a pre-planned path point and the current underwater position of the bionic gliding dolphin;
determining the advancing thrust and yaw moment of the bionic gliding dolphin based on the target tracking point and the current underwater position of the bionic gliding dolphin; the method specifically comprises the following steps:
determining a tracking error according to the current position coordinate and a target tracking point, wherein the tracking error variable comprises a target position error and a target yaw angle error;
based on the Lyapunov function, determining the yaw moment tau according to the target yaw angle error and the following formular：
Figure FDA0003106180300000091
Figure FDA0003106180300000092
Figure FDA0003106180300000093
Figure FDA0003106180300000094
xe＝x-xd
ye＝y-yd，
ψe＝ψ-ψd
Figure FDA0003106180300000095
re＝r-α1，
Figure FDA0003106180300000096
Figure FDA0003106180300000097
Wherein M ═ diag (M)11,m22,m33) Representing a quality parameter matrix; d ═ diag (D)11,d22,d33) Representing a damping parameter matrix;
Figure FDA0003106180300000098
which represents the value of the estimate,
Figure FDA0003106180300000099
representing an estimation error; u represents the linear velocity of the plane along the x-axis, v represents the linear velocity of the plane along the y-axis, r represents the angular velocity of the plane z-axis, reIndicates the error of angular velocity ueRepresenting the linear velocity error, t represents a time variable; (x, y) is the current position coordinate of the bionic gliding dolphin under water, and psi represents the yaw angle; (x)d,yd) Is the target position coordinate of the bionic gliding dolphin underwater, psidRepresenting a target yaw angle; (x)e,ye) Is the position error of the bionic gliding dolphin underwater, psieRepresenting a target yaw angle error; sign (·) represents a sign function,
Figure FDA0003106180300000101
denotes the derivation, α1Representing a stabilization function, k1、k2Is a manually set normal number, #LIs a normal number used for limiting the value range of the state variable;
determining forward thrust according to the target position error based on a Lyapunov function;
and controlling the bionic gliding dolphin to move underwater according to the forward thrust and the yaw moment, updating the current position of the bionic gliding dolphin underwater, and finally enabling the motion track of the bionic gliding dolphin underwater to gradually converge on an expected curve formed by pre-planned path points.
8. A computer-readable storage medium storing one or more programs that, when executed by an electronic device including a plurality of application programs, cause the electronic device to:
determining a target tracking point of the bionic gliding dolphin based on a pre-planned path point and the current underwater position of the bionic gliding dolphin;
determining the advancing thrust and yaw moment of the bionic gliding dolphin based on the target tracking point and the current underwater position of the bionic gliding dolphin; the method specifically comprises the following steps:
determining a tracking error according to the current position coordinate and a target tracking point, wherein the tracking error variable comprises a target position error and a target yaw angle error;
based on the Lyapunov function, determining the yaw moment tau according to the target yaw angle error and the following formular：
Figure FDA0003106180300000119
Figure FDA0003106180300000111
Figure FDA0003106180300000112
Figure FDA0003106180300000113
xe＝x-xd
ye＝y-yd，
ψe＝ψ-ψd
Figure FDA0003106180300000114
re＝r-α1，
Figure FDA0003106180300000115
Figure FDA0003106180300000116
Wherein M ═ diag (M)11,m22,m33) Representing a quality parameter matrix; d ═ diag (D)11,d22,d33) Representing a damping parameter matrix;
Figure FDA0003106180300000117
which represents the value of the estimate,
Figure FDA0003106180300000118
representing an estimation error; u represents the linear velocity of the plane along the x-axis, v represents the linear velocity of the plane along the y-axis, r represents the angular velocity of the plane z-axis, reIndicates the error of angular velocity ueRepresenting the linear velocity error, t represents a time variable; (x, y) is the current position coordinate of the bionic gliding dolphin under water, and psi represents the yaw angle; (x)d,yd) Is the target position coordinate of the bionic gliding dolphin underwater, psidRepresenting a target yaw angle; (x)e,ye) Is the position error of the bionic gliding dolphin underwater, psieRepresenting a target yaw angle error; sign (·) represents a sign function,
Figure FDA0003106180300000121
denotes the derivation, α1Representing a stabilization function, k1、k2Is a manually set normal number, #LIs a normal number used for limiting the value range of the state variable;
determining forward thrust according to the target position error based on a Lyapunov function;
and controlling the bionic gliding dolphin to move underwater according to the forward thrust and the yaw moment, updating the current position of the bionic gliding dolphin underwater, and finally enabling the motion track of the bionic gliding dolphin underwater to gradually converge on an expected curve formed by pre-planned path points.
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