CN106406095B - The asymmetric limited full driving surface vessel Trajectory Tracking Control method of input and output - Google Patents
The asymmetric limited full driving surface vessel Trajectory Tracking Control method of input and output Download PDFInfo
- Publication number
- CN106406095B CN106406095B CN201610943039.6A CN201610943039A CN106406095B CN 106406095 B CN106406095 B CN 106406095B CN 201610943039 A CN201610943039 A CN 201610943039A CN 106406095 B CN106406095 B CN 106406095B
- Authority
- CN
- China
- Prior art keywords
- surface vessel
- input
- output
- calculated
- actuator
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Artificial Intelligence (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Evolutionary Computation (AREA)
- Medical Informatics (AREA)
- Software Systems (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Feedback Control In General (AREA)
Abstract
The present invention relates to a kind of asymmetric limited full driving surface vessel Trajectory Tracking Control methods of input and output, first carry out error calculation by given track expectation pursuit gain；Then kinematics control in track is carried out according to track kinematical equation and virtual controlling rule is calculated；The indeterminate in surface vessel model is approached using neural network, Design assistant control system solves the problems, such as damp constraint, then obtains control amount based on surface vessel kinetics equation；This control amount is finally used for surface vessel model.In practical application, the quantity of states such as track, the speed of surface vessel are obtained by sensor measurement, and the executing agencies such as steering engine and propeller will be transmitted to by the control amount that this method is calculated, can be realized the anti-indeterminate of surface vessel, disturbance rejection, the asymmetric saturation problem of anti-executing agency Trajectory Tracking Control function.
Description
Technical field
The present invention provides a kind of asymmetric limited full driving surface vessel Trajectory Tracking Control method of input and output, it is
Input and output are provided a kind of tracking expectation rail that inhibition external disturbance influences by the full driving unmanned water surface naval vessel of asymmetric limitation
The new control method of mark, belongs to automatic control technology field.
Background technique
In recent years, more and more for the motion control research on unmanned water surface naval vessel.Wherein, Trajectory Tracking Control is as one
A typical motion control is all of great importance for the work of navigation, intelligence exploration and intelligence investigation etc..So we
It needs for a kind of controller of tracking trajectory capacity with high performance of unmanned water surface ship design, to realize surface vessel
Accurate reference track or virtual objects.However in real application systems, it may appear that the problem of input is saturated, so as to cause performance
Degeneration, lead-lag, generation undersuing even system are unstable.Simultaneously as the propeller of surface vessel can only export
Positive power, or when actuator validity partial loss, asymmetric input saturated conditions can all occur.In addition, working as water surface warship
When a narrow river is advanced, the track of ship is strictly limited ship by the two sides in river, it is therefore desirable to consider what output was limited
Problem.When track is not the centre in river, the limitation of system output is also asymmetrical.
Because the invention " a kind of asymmetric limited full driving surface vessel Trajectory Tracking Control method of input and output " is handle
Problem above proposes targeted, surface vessel of the solution input and output by asymmetric restricted problem as point of penetration
Trajectory Tracking Control is theoretical.It is non-to introduce bounded liapunov function, hyperbolic tangent function and Nussbaum function solution time-varying
The problem of symmetry inputs and outputs limit；Indeterminate and external disturbance using adaptive algorithm estimation bounded；Meanwhile it utilizing
Instruction filter avoids complicated derivative operation.This method solve the asymmetric limited problems of input and output, ensure that system
Asymptotic Stability, it can be achieved that reliable track following, provide and a kind of efficiently may be used for surface vessel Trajectory Tracking Control engineering
Capable design means.
Summary of the invention
(1) purpose: the purpose of the present invention is to provide a kind of asymmetric limited full driving surface vessel rails of input and output
Mark tracking and controlling method, control engineer can realize that surface vessel is anti-not while combining actual parameter in the method
Determine item, disturbance rejection, anti-input and output by asymmetric limitation Trajectory Tracking Control.
(2) technical solution: " the asymmetric limited full driving surface vessel Trajectory Tracking Control side of input and output of the invention
Method ", main contents and step are: first carrying out error calculation by given track expectation pursuit gain；Then it is moved according to track
It learns equation progress track kinematics control and virtual controlling rule is calculated；It is approached in surface vessel model not using neural network
Determine item, Design assistant control system solves the problems, such as damp constraint, is then controlled based on surface vessel kinetics equation
Amount processed；This control amount is finally used for surface vessel model.In practical application, the states such as track, speed of surface vessel
Amount is obtained by sensor measurement, and will be transmitted to the executing agencies such as steering engine and propeller by the control amount that this method is calculated,
Can be realized the anti-indeterminate of surface vessel, disturbance rejection, the asymmetric saturation problem of anti-executing agency Trajectory Tracking Control function.
" the asymmetric limited full driving surface vessel Trajectory Tracking Control method of input and output " of the invention, specific steps
It is as follows:
The given expectation pursuit path of step 1: given desired plane position (xd,yd)；Given expectation yaw angle ψd；It is expected that with
Track track is expressed as ηd=[xd,yd,ψd]T。
Step 2 track following error calculation: the error z between actual path and desired trajectory is calculated1=η-ηd。
Step 3 handles input saturation part: introducing smooth piecewise functionApproximate description actuator model.
Step 4 virtual controlling amount α10It calculates: calculating virtual needed for the error eliminated between desired trajectory and actual path
Control amount α10。
Step 5 virtual controlling amount α20It calculates: calculating virtual needed for the error eliminated between desired speed and actual speed
Control amount α20。
Step 6 system design of control law: it calculates needed for the error eliminated between actuator desired output and reality output
Control amount φ.
Wherein, given expectation pursuit path described in step 1 include: desired pursuit path be ηd=[xd,yd,ψd]T,
Three representation in components meanings are as follows: (xd,yd) indicate desired plane position, ψdIndicate expectation yaw angle.
Wherein, the calculation method of the track following error described in step 2 is as follows:
z1=η-ηd
η is actual path of the surface vessel under inertial coodinate system, η=[x, y, ψ]T, wherein (x, y) indicates water surface warship
The position of ship, ψ indicate yaw angle.
Wherein, handling input saturation part described in step 3, calculation method is as follows:
With reference to the accompanying drawings 1, initially set up inertial coodinate system and body coordinate system shown in figure.To which surface vessel can be obtained
Three Degree Of Freedom Nonlinear Equations of Motion:
Wherein, η=[x, y, ψ]TFor the actual path on the naval vessel under inertial coodinate system, (x, y) indicates the position of surface vessel
It sets, ψ indicates yaw angle.υ=[u, v, r]TFor velocity vector of the naval vessel under body coordinate system, u, v, r is respectively velocity vector edge
The decomposition amount of hull coordinate system respectively indicates forward speed, lateral velocity and yaw rate.R (ψ) is spin matrix, is met
R-1(ψ)=RT(ψ):
M is nonsingular, symmetrical positive definite inertial matrix.C (υ) is centripetal matrix, and D (υ) is damping matrix.Three distinguishes table
Show as follows:
B (t)=[b1(t) b2(t) b3(t)]TFor indeterminate, including unmodeled indeterminate and unknown time-varying
Interference volume.To be saturated the output of actuator and the input of system.Actuator input is defeated
Relationship out may be expressed as:
Wherein,It is the control amount not considered under actuator saturation, the input of saturation actuator can be regarded as.WithIt is τ respectivelyiBound.But at this time input with export relation curve be it is rough, be not available Backstepping
It is designed.Therefore a smooth piecewise function is definedIt is defeated to carry out approximate representation actuator
Enter output relation.
Then the equation of motion of surface vessel can be rewritten as
Wherein, It is the functional vector of a bounded,C > 0, φ are for it
The control law for needing to design afterwards.
Wherein, the calculating virtual controlling amount α described in step 410, calculation method is as follows:
1) error of actual path and given desired trajectory: z is calculated1=η-ηd。
2) asymmetric export-restriction: k is givencIt (t) is system bottoming, kd(t) upper limit is exported for system, then in output
The difference of lower limit and given desired trajectory
kαi=ηdi-kci, kbi=kdi-ηdi, (i=1,2,3).
3) z is calculated1Derivative:
4) virtual controlling amount α is designed10:
Wherein k1=diag (k11,k12,k13) be positive definite symmetrical matrix；kα1> 0, p >=0 are positive integer,
Q=diag (Q1,Q2,Q3), and
e1For the state of auxiliary system, it is expressed as
Wherein,For the constant of a very little, ke1> 1, γ1> 0,
Δα1=α1-α10.It, can be by α by differential tracking filter as shown in Fig. 2i0(i=1,2) α is obtainediAnd
Its derivative value
To can avoid complicated derivative operation.
Wherein, the calculating virtual controlling amount α described in step 520, calculation method is as follows:
1) error of actual speed and desired speed: z is calculated2=v- α1。
2) z is calculated2Derivative:
3) virtual controlling amount α is designed20:
Wherein, kα2> 0,e2With e1It is similar, it is a state variable of auxiliary system, is expressed as
Wherein,For the constant of a very little, ke2> 1, γ2> 0,
Δα2=α2-α20。
4) adaptive law designs: design adaptive lawBy the indeterminate in model with
And external disturbance passes through adaptive algorithm approximate evaluation,
Wherein γf,γσ> 0, ρ ∈ R+。
Wherein, the system design of control law described in step 6, design method are as follows:
1) reality output of actuator and the error of desired output are calculated:
2) z is calculated3Derivative:Wherein Θ=diag (θ1,θ2,θ3),By
Extreme difficulties can be brought to design and analysis in the Θ of time-varying, introduce Nussbaum function battle array N=diag (N1(χ1),N2(χ2),
N3(χ3)),
3) control amount φ is designed:
Wherein k3=diag (k31,k32,k33), it is the symmetrical matrix of positive definite.
(3) advantage and effect:
" the surface vessel Trajectory Tracking Control method of the asymmetric saturation of actuator " of the invention, it is compared with the prior art, excellent
Point is:
1) this method avoids model linearization, may be directly applied to nonlinear model, and step is succinctly efficient, and can guarantee and be
The stability gradually of system；
2) this method can effectively solve the problem that the asymmetric saturation problem of actuator, significantly improve non-due to executing agency
Symmetrical saturation problem is adversely affected for caused by system stability and various aspects of performance；
3) this method, can by that surface vessel can be made when narrow river is advanced to the asymmetric limitation of output progress
The track reference track leaned on；
4) inhibit model uncertainty and external disturbance to the interference effect of system using adaptive algorithm is good；
5) this method algorithm structure is simple, and fast response time is easy to Project Realization.
In application process, control engineer can give surface vessel any desired track and corresponding according to actual requirement
Input and output limitation, and by the control amount being calculated by this method be directly transferred to executing agency realize Trajectory Tracking Control
Function.
Detailed description of the invention
Fig. 1 is surface vessel illustraton of model of the present invention.
Fig. 2 is the composition block diagram of filter in the present invention.
Symbol description is as follows:
ηd ηd=[xd,yd,ψd]TIt is expected surface vessel travel track, wherein (xd,yd) indicate desired plane position, ψd
Indicate yaw angle.
η η=[x, y, ψ]TFor the actual path of surface vessel；
υ υ=[u, v, r]TFor the velocity vector of surface vessel, u, v, r is respectively point of the velocity vector along hull coordinate system
Xie Liang；
α10 α10For designed virtual controlling amount；
α20 α20For designed virtual controlling amount；
α1 α1It, can be by α for the desired speed of surface vessel10It is obtained by filter；
α2 α2It, can be by α for the desired output of actuator20It is obtained by filter；
z1 z1Error between desired trajectory and actual path；
z2 z2Error between desired speed and actual speed；
z3 z3Error between desired speed and actual speed；
B b (t)=[b1(t)b2(t)b3(t)]TFor indeterminate, the interference including unmodeled power and unknown time-varying
Amount；
Not consider the system input quantity under actuator saturation；
For the output and system input for being saturated actuator；
For a smooth piecewise function, it is used to approximate representation actuator and is saturated
Model；
For a bounded function；
B B be model indeterminate b withSum；
kc(t) kcIt (t) is the minimum export-restriction of system；
kd(t) kd(t) it is limited for the maximum output of system；
φ φ is system control amount；
For minimum value defined by system input quantity；
For maximum value defined by system input quantity；
e1,e2 e1,e2The state variable of auxiliary system；
For the estimated value of indeterminate；
Specific embodiment
With reference to the accompanying drawing, the following further describes the technical solution of the present invention.
" the asymmetric limited full driving surface vessel Trajectory Tracking Control method of input and output " of the invention, specific steps
It is as follows: step 1: given expectation pursuit gain
1) as shown in Figure 1, using a fixed point as origin, x-axis is directed toward the north, and y-axis is directed toward east, establishes inertial coordinate
System；Using the construction geometry center in surface vessel model as origin, x-axis is directed toward the head on naval vessel, and y-axis establishes body perpendicular to x-axis
Coordinate system.
2) given desired trajectory is ηd=[xd,yd,ψd]T, three representation in components meanings are as follows: (xd,yd) indicate that expectation is flat
Face position, ψdIndicate yaw angle.
Step 2: track following error z is calculated1
z1=η-ηd
Step 3: input saturation part is handled
With reference to the accompanying drawings 1, initially set up inertial coodinate system and body coordinate system shown in figure.To which surface vessel can be obtained
Three Degree Of Freedom Nonlinear Equations of Motion:
Wherein, η=[x, y, ψ]TFor the actual path on the naval vessel under inertial coodinate system, (x, y) indicates the position of surface vessel
It sets, ψ indicates yaw angle.υ=[u, v, r]TFor velocity vector of the naval vessel under body coordinate system, u, v, r is respectively velocity vector edge
The decomposition amount of hull coordinate system respectively indicates forward speed, lateral velocity and yaw rate.R (ψ) is spin matrix, is met
R-1(ψ)=RT(ψ):
M is nonsingular, symmetrical positive definite inertial matrix.C (υ) is centripetal matrix, and D (υ) is damping matrix.Three distinguishes table
Show as follows:
B (t)=[b1(t)b2(t)b3(t)]TIt is dry including unmodeled indeterminate and unknown time-varying for indeterminate
The amount of disturbing.To be saturated the output of actuator and the input of system.Actuator input and output
Relationship may be expressed as:
Wherein,It is the control amount not considered under actuator saturation, the input of saturation actuator can be regarded as.WithPoint
It is not τiBound.But at this time input with export relation curve be it is rough, be not available Backstepping
It is designed.Therefore fixed
An adopted smooth piecewise functionCome approximate representation actuator input and output pass
System.
Then the equation of motion of surface vessel can be rewritten as
Wherein, It is the functional vector of a bounded,C > 0, φ are for it
The control law for needing to design afterwards.
Step 4: virtual controlling amount α is calculated10
1) error of actual path and given desired trajectory: z is calculated1=η-ηd。
2) asymmetric export-restriction: k is givencIt (t) is system bottoming, kd(t) upper limit is exported for system, then in output
The difference of lower limit and given desired trajectory
kαi=ηdi-kci, kbi=kdi-ηdi, (i=1,2,3).
3) z is calculated1Derivative:
4) virtual controlling amount α is designed10:
Wherein k1=diag (k11,k12,k13) be positive definite symmetrical matrix；kα1> 0, p >=0 are positive integer,
Q=diag (Q1,Q2,Q3), and
e1For the state of auxiliary system, it is expressed as
Wherein,For the constant of a very little, ke1> 1, γ1> 0,
Δα1=α1-α10.It, can be by α by differential tracking filter as shown in Fig. 2i0(i=1,2) α is obtainediAnd
Its derivative value
To can avoid complicated derivative operation.
Step 5: virtual controlling amount α is calculated20
1) error of actual speed and desired speed: z is calculated2=v- α1。
2) z is calculated2Derivative:
3) virtual controlling amount α is designed20:
Wherein, kα2> 0,e2With e1It is similar, it is a state variable of auxiliary system, is expressed as
It wherein, is the constant of a very little, ke2> 1, γ2> 0,
Δα2=α2-α20。
4) adaptive law designs: design adaptive lawBy the indeterminate in model with
And external disturbance passes through adaptive algorithm approximate evaluation,
Wherein γf,γσ> 0, ρ ∈ R+。
Step 6: designing system control law
1) reality output of actuator and the error of desired output are calculated:
2) z is calculated3Derivative:Wherein Θ=diag (θ1,θ2,θ3),By
Extreme difficulties can be brought to design and analysis in the Θ of time-varying, introduce Nussbaum function battle array N=diag (N1(χ1),N2(χ2),
N3(χ3)),
3) control amount φ is designed:
Wherein k3=diag (k31,k32,k33), it is the symmetrical matrix of positive definite.
Claims (5)
1. a kind of asymmetric limited full driving surface vessel Trajectory Tracking Control method of input and output, it is characterised in that: specific
Steps are as follows:
The given expectation pursuit path of step 1: given desired plane position (xd,yd)；Given expectation yaw angle ψd；It is expected that tracking rail
Trace description is ηd=[xd,yd,ψd]T；
Step 2 track following error calculation: the error z between actual path and desired trajectory is calculated1=η-ηd；
Step 3 handles input saturation part: introducing smooth piecewise functionApproximate description actuator model；
Step 4 virtual controlling amount α10It calculates: virtual controlling needed for calculating the error eliminated between desired trajectory and actual path
Measure α10；
Step 5 virtual controlling amount α20It calculates: virtual controlling needed for calculating the error eliminated between desired speed and actual speed
Measure α20；
Step 6 system design of control law: control needed for calculating the error eliminated between actuator desired output and reality output
Measure φ；
Wherein, input saturation part is handled described in step 3, calculation method is as follows:
Initially set up inertial coodinate system and body coordinate system；To which the Three Degree Of Freedom Nonlinear Equations of Motion of surface vessel can be obtained:
Wherein, η=[x, y, ψ]TFor the actual path on the naval vessel under inertial coodinate system, (x, y) indicates the position of surface vessel, ψ table
Show yaw angle；υ=[u, v, r]TFor velocity vector of the naval vessel under body coordinate system, u, v, r is respectively that velocity vector is sat along hull
The decomposition amount for marking system, respectively indicates forward speed, lateral velocity and yaw rate；R (ψ) is spin matrix, meets R-1(ψ)=
RT(ψ):
M is nonsingular, symmetrical positive definite inertial matrix；C (υ) is centripetal matrix, and D (υ) is damping matrix；Three respectively indicate as
Under:
B (t)=[b1(t) b2(t) b3(t)]TFor indeterminate, the interference including unmodeled indeterminate and unknown time-varying
Amount；To be saturated the output of actuator and the input of system；Actuator input
The relationship of output may be expressed as:
Wherein,It is the control amount not considered under actuator saturation, the input of saturation actuator can be regarded as；WithIt is τ respectivelyiBound；But at this time input with output relation curve be it is rough, be not available Backstepping carry out
Design；Therefore a smooth piecewise function is definedIt is defeated to carry out the input of approximate representation actuator
Relationship out；
Then the equation of motion of surface vessel can be rewritten as
Wherein, It is the functional vector of a bounded,C > 0, φ are needed after being
The control law to be designed.
2. the asymmetric limited full driving surface vessel Trajectory Tracking Control method of input and output according to claim 1,
It is characterized by: the calculation method of track following error described in step 2 is as follows:
z1=η-ηd
η is actual path of the surface vessel under inertial coodinate system, η=[x, y, ψ]T, wherein the position of (x, y) expression surface vessel
It sets, ψ indicates yaw angle.
3. the asymmetric limited full driving surface vessel Trajectory Tracking Control method of input and output according to claim 1,
It is characterized by: calculating virtual controlling amount α described in step 410, calculation method is as follows:
1) error of actual path and given desired trajectory: z is calculated1=η-ηd；
2) asymmetric export-restriction: k is givencIt (t) is system bottoming, kd(t) upper limit is exported for system, then exports bound
With the difference of given desired trajectory
kαi=ηdi-kci, kbi=kdi-ηdi, (i=1,2,3)；
3) z is calculated1Derivative:
4) virtual controlling amount α is designed10:
Wherein k1=diag (k11,k12,k13) be positive definite symmetrical matrix；kα1> 0, p >=0 are positive integer,
Q=diag (Q1,Q2,Q3), and
e1For the state of auxiliary system, it is expressed as
Wherein,For the constant of a very little, ke1> 1, γ1> 0,Δ
α1=α1-α10；It, can be by α by differential tracking filteri0(i=1,2) α is obtainediAnd its derivative value
4. the asymmetric limited full driving surface vessel Trajectory Tracking Control method of input and output according to claim 1,
It is characterized by: calculating virtual controlling amount α described in step 520, calculation method is as follows:
1) error of actual speed and desired speed: z is calculated2=v- α1；
2) z is calculated2Derivative:
3) virtual controlling amount α is designed20:
Wherein, kα2> 0,e2With e1It is similar, it is a state variable of auxiliary system, is expressed as
Wherein,For the constant of a very little, ke2> 1, γ2> 0,
Δα2=α2-α20；
4) adaptive law designs: design adaptive lawBy the indeterminate in model and outside
Portion's disturbance passes through adaptive algorithm approximate evaluation,
Wherein γf,γσ> 0, ρ ∈ R+。
5. the asymmetric limited full driving surface vessel Trajectory Tracking Control method of input and output according to claim 1,
It is characterized by: system design of control law, design method described in step 6 are as follows:
1) reality output of actuator and the error of desired output are calculated:
2) z is calculated3Derivative:Wherein Θ=diag (θ1,θ2,θ3),Due to when
The Θ of change can bring extreme difficulties to design and analysis, introduce Nussbaum function battle array N=diag (N1(χ1),N2(χ2),N3
(χ3)),
3) control amount φ is designed:
Wherein k3=diag (k31,k32,k33), it is the symmetrical matrix of positive definite.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610943039.6A CN106406095B (en) | 2016-10-26 | 2016-10-26 | The asymmetric limited full driving surface vessel Trajectory Tracking Control method of input and output |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610943039.6A CN106406095B (en) | 2016-10-26 | 2016-10-26 | The asymmetric limited full driving surface vessel Trajectory Tracking Control method of input and output |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106406095A CN106406095A (en) | 2017-02-15 |
| CN106406095B true CN106406095B (en) | 2019-06-07 |
Family
ID=58013674
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610943039.6A Active CN106406095B (en) | 2016-10-26 | 2016-10-26 | The asymmetric limited full driving surface vessel Trajectory Tracking Control method of input and output |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106406095B (en) |
Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108829099A (en) * | 2018-06-01 | 2018-11-16 | 北京航空航天大学 | A kind of drive lacking unmanned boat trace tracking method based on the control of limited Backstepping |
| CN108803632B (en) * | 2018-09-19 | 2021-03-09 | 哈尔滨工程大学 | Water surface unmanned ship all-state constraint trajectory tracking control method based on saturation compensation technology |
| CN109100939B (en) * | 2018-09-19 | 2021-05-11 | 哈尔滨工程大学 | Input saturation considered water surface unmanned ship all-state constraint trajectory tracking control method |
| CN109656143B (en) * | 2019-02-25 | 2022-01-28 | 曲阜师范大学 | Self-adaptive tracking control method and system for sea surface full-drive ship |
| CN111474939B (en) * | 2020-05-06 | 2021-10-29 | 河海大学 | Tracking control method of full-drive ship |
| CN111650943B (en) * | 2020-06-19 | 2022-06-24 | 哈尔滨理工大学 | Track tracking preset performance control method for speed-limited still water dynamic positioning ship |
| CN112034865B (en) * | 2020-08-12 | 2021-10-08 | 浙江大学 | Full-drive underwater vehicle track tracking control method based on optimization algorithm |
| CN112612209B (en) * | 2020-12-14 | 2022-11-04 | 哈尔滨工业大学 | Full-drive ship track tracking control method and system based on instruction filtering neural network controller |
| CN113064347B (en) * | 2021-03-15 | 2022-09-23 | 贵州大学 | PMSM chaotic system self-adaptive control method considering asymmetric input and output constraints |
| CN114661056B (en) * | 2022-05-19 | 2022-12-27 | 浙江大学湖州研究院 | Differential water surface unmanned ship trajectory tracking method considering propeller servo control |
| CN115328126B (en) * | 2022-08-08 | 2023-11-24 | 大连海事大学 | Unmanned ship self-adaptive sliding mode track tracking control method and control system thereof |
| CN116577997B (en) * | 2023-07-06 | 2023-10-03 | 西北工业大学 | Omnidirectional trolley parameter identification method based on concurrent learning |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5052165B2 (en) * | 2007-03-05 | 2012-10-17 | 東京計器株式会社 | Ship automatic steering system |
| CN102163057B (en) * | 2011-04-14 | 2013-05-29 | 北京航空航天大学 | Tracking control method of plane paths of self-managing airship |
| JP5679898B2 (en) * | 2011-05-02 | 2015-03-04 | 三菱電機株式会社 | Trajectory control device |
| CN102298326B (en) * | 2011-06-30 | 2013-05-08 | 哈尔滨工程大学 | Underactuated autonomous underwater vehicle (AUV) adaptive trajectory tracking control device and control method |
| CN104793629B (en) * | 2015-05-04 | 2017-09-26 | 中国人民解放军国防科学技术大学 | A kind of contragradience neural network control method of dirigible Three-dimensional Track tracking |
| CN105929842B (en) * | 2016-04-20 | 2019-01-11 | 哈尔滨工程大学 | A kind of drive lacking UUV planar obit simulation tracking and controlling method adjusted based on dynamic speed |
-
2016
- 2016-10-26 CN CN201610943039.6A patent/CN106406095B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN106406095A (en) | 2017-02-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106406095B (en) | The asymmetric limited full driving surface vessel Trajectory Tracking Control method of input and output | |
| CN107065847B (en) | Water surface ship track tracking control method with asymmetric saturation of actuator | |
| CN102880060B (en) | Self-adaptive index time varying slip form posture control method of reentry flight vehicle | |
| CN110032197B (en) | Unmanned ship path tracking control method based on limited time guidance and control | |
| CN103777641B (en) | The compound Auto-disturbance-rejection Control of aircraft tracing control | |
| CN108829099A (en) | A kind of drive lacking unmanned boat trace tracking method based on the control of limited Backstepping | |
| CN108008720A (en) | The fuzzy sliding mode Trajectory Tracking Control and method of a kind of wheeled mobile robot | |
| CN109343350A (en) | A kind of underwater robot path tracking control method based on Model Predictive Control | |
| CN104317300B (en) | A kind of stratospheric airship panel path tracking and controlling method based on Model Predictive Control | |
| CN109358499A (en) | Unmanned boat exact path tracking and controlling method based on speed Yu the dual guidance in course | |
| CN110618611A (en) | Unmanned ship trajectory tracking safety control method based on slew rate constraint | |
| Shi-Cai et al. | Robust leader-follower formation control of mobile robots based on a second order kinematics model | |
| CN104950899A (en) | Method for controlling postures of aircraft converged at fixed time | |
| CN102163059A (en) | Attitude control system and attitude control method of variable thrust unmanned aerial vehicle | |
| CN105116914B (en) | A kind of stratospheric airship analytic modell analytical model predicted path tracking and controlling method | |
| CN102929283A (en) | Method for controlling reentry vehicle self-adapting optimal sliding mode attitude based on SDRE (state dependence matrix Riccati equation) | |
| CN110007606A (en) | A kind of unmanned surface vehicle error constraints control method considering input saturation | |
| Zhang et al. | Anti-disturbance control for dynamic positioning system of ships with disturbances | |
| Cho et al. | Horizontal trajectory tracking of underactuated auv using backstepping approach | |
| Dai et al. | Finite-time trajectory tracking for marine vessel by nonsingular backstepping controller with unknown external disturbance | |
| CN105676674A (en) | Unmanned aerial vehicle front wheel steering control method based on instruction filter | |
| Chen et al. | Robust trajectory tracking control of underactuated underwater vehicle subject to uncertainties | |
| CN105094144A (en) | Self-adaptive windproof path tracking control method for unmanned airship | |
| Zhang et al. | Adaptive stabilization and trajectory tracking of airship with neutral buoyancy | |
| Juan et al. | Trajectory tracking control of multi-AUVs formation based on virtual leader |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |