CN107861382B - Multi-execution underwater robot robust self-adaptive motion control device and method thereof - Google Patents
Multi-execution underwater robot robust self-adaptive motion control device and method thereof Download PDFInfo
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- CN107861382B CN107861382B CN201710900012.3A CN201710900012A CN107861382B CN 107861382 B CN107861382 B CN 107861382B CN 201710900012 A CN201710900012 A CN 201710900012A CN 107861382 B CN107861382 B CN 107861382B
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- 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
Abstract
The invention discloses a robust self-adaptive motion control device and a robust self-adaptive motion control method for a multi-execution underwater robot; the system comprises a second-order sliding mode controller, wherein the second-order sliding mode controller is provided with a control gain self-adaptive device; the second-order sliding mode controller is connected with the control distribution module, the control distribution module controls and establishes an execution mechanism nonlinear model, the execution mechanism nonlinear model controls and establishes an underwater robot kinematic dynamics model, and the underwater robot kinematic dynamics model and the expectation module jointly control the second-order sliding mode controller. The external disturbance generated by the underwater complex environment and the uncertainty generated by the underwater robot in the working process are overcome; the multivariable second-order sliding mode motion control law is provided, the finite time control can be realized by designing the self-adaptive law for the control gain of the second-order sliding mode, the buffeting phenomenon caused by the traditional method is avoided, and the optimal control distribution is completed based on the quadratic function aiming at the condition that multiple execution mechanisms work together.
Description
Technical Field
The invention belongs to the technical field of multi-execution underwater robot control; in particular to a multi-execution underwater robot based on a second-order sliding mode; in particular to a robust self-adaptive motion control device of a multi-execution underwater robot; the method also relates to a robust self-adaptive motion control method for the multi-execution underwater robot.
Background
The sliding mode control has strong robustness to external interference, model uncertainty and nonlinear characteristics of a system, and therefore, the sliding mode control is widely applied to the design of various control systems. However, the traditional sliding mode has two problems which cannot be solved, namely the buffeting problem of the controlled variable and the mismatch uncertainty which is difficult to overcome. On the basis of the traditional sliding mode, some scholars research singular and nonsingular terminal sliding modes and can accelerate the convergence speed of an approach state. In order to overcome the buffeting problem of the traditional first-order sliding mode and the terminal sliding mode, Fridman and the like propose a high-order sliding mode. However, higher order sliding modes require the use of higher order derivatives of the switching function, which limits the use of higher order sliding modes. On the basis, Levant proposes a novel second-order sliding mode method without various derivatives, namely a supertwist sliding mode. The supertorsion slip form can not only restrain the buffeting phenomenon, but also realize the stabilization in a limited time.
On the other hand, in the world, the reasonable utilization and development of ocean resources play a great role in the sustainable development of the human society. An underwater robot works in a special complex underwater environment and is often required to face various complex disturbances including environmental interference, electromagnetic interference, water flow interference and the like. The kinematic dynamics model of the underwater robot generally assumes a rigid body, but in actual engineering, flexible characteristics, unmodeled dynamics, nonlinearity of an actuator and the like often exist. Therefore, there is a need to investigate robust adaptive motion control problems for underwater robots. In view of the excellent characteristics of the super-distortion second-order sliding mode, the motion control law of the underwater robot is designed based on the sliding mode. In order to process the situation that the uncertainty upper bound is unknown and time-varying, the invention designs a gain self-adaptive law for a second-order sliding mode controller.
Disclosure of Invention
The invention provides a robust self-adaptive motion control device of a multi-execution underwater robot; the underwater robot overcomes the external disturbance generated by an underwater complex environment and the uncertainty generated by the underwater robot in the working process.
the invention also provides a robust self-adaptive motion control method of the multi-execution underwater robot; the multivariable second-order sliding mode motion control law is provided, the finite time control can be realized by designing the self-adaptive law for the control gain of the second-order sliding mode, the buffeting phenomenon caused by the traditional method is avoided, and the optimal control distribution is completed based on the quadratic function aiming at the situation that multiple execution mechanisms work together.
The technical scheme of the invention is as follows: a robust adaptive motion control device of a multi-execution underwater robot comprises a second-order sliding mode controller, wherein the second-order sliding mode controller is provided with a control gain adaptive device; the second-order sliding mode controller is connected with the control distribution module, the control distribution module controls and establishes an execution mechanism nonlinear model, the execution mechanism nonlinear model controls and establishes an underwater robot kinematic dynamics model, and the underwater robot kinematic dynamics model and the expectation module jointly control the second-order sliding mode controller.
The other technical scheme of the invention is as follows: a robust adaptive motion control method for a multi-execution underwater robot comprises the following steps:
Step 1, constructing a kinematic dynamics model of a multi-execution-mechanism underwater robot;
Step 2, constructing a multi-variable high-performance switching function of the multi-execution-mechanism underwater robot;
Step 3, constructing a multivariable second-order sliding mode control system of the multi-execution-mechanism underwater robot, wherein the multivariable second-order sliding mode control system comprises a virtual second-order sliding mode control law for designing the multi-execution-mechanism underwater robot;
step 4, designing a gain self-adaptation law of a second-order sliding mode based on a multivariable second-order sliding mode control system;
and 5, performing optimal control distribution based on the gain self-adaption law of the second-order sliding mode.
And in the step 2, when the high-performance switching function is 0, the position and attitude vectors of the underwater robot gradually converge.
And 4, converging the norm of the high-performance switching function to 0 by using the gain self-adaption law of the second-order sliding mode in the step 4.
And 3, constructing a multivariable second-order sliding mode control system of the multi-execution-mechanism underwater robot and a virtual second-order sliding mode control law of the multi-execution-mechanism underwater robot through a second-order sliding mode controller.
And 4, constructing a gain self-adaptive law of a second-order sliding mode by controlling a gain self-adaptive device.
compared with the prior art, the invention has the beneficial effects that: the invention starts from the kinematic dynamics angle of the underwater robot with a multi-execution mechanism, and realizes the finite time motion control of the underwater robot under the conditions of complicated underwater external disturbance and multi-source uncertainty of the underwater robot; the method can also avoid the buffeting phenomenon of the traditional sliding mode control and the singularity phenomenon of the terminal sliding mode control, and realize the robust self-adaption accurate control under the condition that the uncertainty upper bound is unknown.
drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a control effect diagram of a second-order sliding mode according to the present invention;
FIG. 3 is a control effect diagram of a conventional sliding mode;
FIG. 4 is a diagram of control input signals for a second order sliding mode of the present invention;
Fig. 5 is a diagram of control input signals for a conventional sliding mode.
In the figure: 1 is a desired module; 2 is a second-order sliding mode controller; 3 is a control distribution module; 4 is the nonlinear model of the actuating mechanism; 5 is a control gain self-adapting device; 6 is a kinematic dynamics model of the underwater robot.
Detailed Description
The technical solution of the present invention is further explained with reference to the accompanying drawings and specific embodiments.
The invention provides a robust self-adaptive motion control device of a multi-execution underwater robot, which comprises a second-order sliding mode controller 2, wherein the second-order sliding mode controller 2 is provided with a control gain self-adaptive device 5, and the second-order sliding mode controller 2 is used for constructing a virtual second-order sliding mode control law; the control distribution module 3 carries out control distribution on multiple execution mechanisms, an execution mechanism nonlinear model 4 is established on the basis of the control distribution, the execution mechanism nonlinear model 4 controls and constructs an underwater robot kinematic dynamics model 6, and the underwater robot kinematic dynamics model 6 and expected signals of the expected module 1 jointly control the second-order sliding mode controller 2.
The invention also provides a robust self-adaptive motion control method of the multi-execution underwater robot, which comprises the following steps:
Step 1, constructing a kinematics dynamics model of a multi-target execution underwater robot; the specific kinematic dynamics model of the multi-execution-mechanism underwater robot can be constructed as follows:
Wherein M is an inertia matrix, C (v) is a Coriolis force and centripetal force matrix, D (v) is a hydrodynamic matrix, g (eta) is a restoring force and moment vector, N is the number of actuating mechanisms, taudJ (eta) is a conversion matrix for external interference force and moment, eta represents the position and attitude vector of the underwater robot,Representing the velocity vector of the underwater robot.Control output vector representing jth actuator of underwater robot, BjA control distribution matrix for the jth actuator is shown.
Step 2, constructing a multi-variable high-performance switching function of the multi-execution underwater robot; the specific definition of tracking error is: e.g. of the typeη＝η-ηdthe design goal is then to make the switching function σ equal to 0Where H is a Hurwitz matrix. Considering the kinematic equation of the underwater robot, it can be known that:
Therefore, the high performance switching function is designed as follows:
it is easy to know that when σ is 0,By substituting equation (2), we can see:
that is, when the multivariable high-performance switching function is 0, the position and attitude vectors converge progressively.
Step 3, constructing a multivariable second-order sliding mode control system of the multi-execution-mechanism underwater robot, wherein the process can be realized through a second-order sliding mode controller 2; specifically, the derivation is performed on the switching function (3) to obtain:
Defining:To obtainDefinition ofthe virtual second-order sliding mode control law of the multi-execution underwater robot is designed as follows:
Step 4, designing a gain self-adaptive law of a second-order sliding mode based on a multivariable second-order sliding mode control system, wherein the step can be realized by controlling a gain self-adaptive device 5; the specific definition is as follows:
Thus obtaining
Wherein mu1,μ2the more than 0 is a design constant; selecting
is alpha1,α2The self-adaptation law is designed as follows:
wherein κ, ε1More than 0 is a design parameter, and it is easy to know that the adaptive law can ensure that the norm of the switching function is converged to 0.
Step 5, performing optimal control distribution based on a gain self-adaption law of a second-order sliding mode; defining the multiple actuators as B ═ B1,B2,…,BN]Control is distributed to the multiple actuators. Consider the followingOptimal control allocation problem:
Can directly obtain: τ ═ BT[BBT]-1τvirtual (14)。
Claims (4)
1. a robust adaptive motion control method for a multi-execution underwater robot is characterized by comprising the following steps:
Step 1, constructing a kinematic dynamics model of the multi-execution-mechanism underwater robot as follows:
where M is an inertia matrix, C (v) is a Coriolis and centripetal force matrix, D (v) is a hydrodynamic matrix, and g (η) isrestoring force and moment vector, N is the number of actuating mechanisms, taudj (eta) is a conversion matrix for external interference force and moment, eta represents the position and attitude vector of the underwater robot, and v belongs to RnRepresenting a velocity vector of the underwater robot; tau isj∈Rncontrol output vector representing jth actuator of underwater robot, Bja control distribution matrix representing the jth actuator;
Step 2, constructing a multi-variable high-performance switching function of the multi-execution-mechanism underwater robot;
The high-performance switching function in step 2 is:
when the sigma is 0, the position and attitude vector of the underwater robot converges gradually; e.g. of the typeη＝η-ηdh is a Hurwitz matrix;
Step 3, constructing a multivariable second-order sliding mode control system of the multi-execution-mechanism underwater robot, wherein the multivariable second-order sliding mode control system comprises a virtual second-order sliding mode control law for designing the multi-execution-mechanism underwater robot; the virtual second-order sliding mode control law is obtained by derivation of a switching function (3) through high performance:
Defining:
To obtain
definition ofThe virtual second-order sliding mode control law of the multi-execution underwater robot is designed as follows:
Step 4, designing a gain self-adaptation law of a second-order sliding mode based on a multivariable second-order sliding mode control system, wherein the specific definition is as follows:
thus obtaining
wherein mu1,μ2the more than 0 is a design constant; selecting
is alpha1,α2the self-adaptation law is designed as follows:
wherein κ, ε1more than 0 is a design parameter, and the self-adaptive law can ensure that the norm of the switching function is converged to 0;
and 5, performing optimal control distribution based on the gain self-adaptation law of the second-order sliding mode, and defining a multi-execution mechanism as B ═ B1,B2,…,BN]For the control distribution of multiple execution mechanisms, the following optimal control distribution is defined:
can directly obtain: τ ═ BT[BBT]-1τvirtual (14)。
2. The robust adaptive motion control method for the multi-execution underwater robot according to claim 1, wherein the gain adaptive law of the second-order sliding mode in the step 4 converges the norm of the high-performance switching function to 0.
3. the robust adaptive motion control method for the multi-execution underwater robot according to any one of claims 1-2, characterized in that in the step 3, a multivariable second-order sliding mode control system of the multi-execution-mechanism underwater robot and a virtual second-order sliding mode control law of the multi-execution-mechanism underwater robot are constructed through a second-order sliding mode controller (2).
4. The robust adaptive motion control method for the multi-execution underwater robot according to any one of claims 1-2, characterized in that in the step 4, a gain adaptive law of a second-order sliding mode is constructed by controlling a gain adaptive device (5).
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| CN109298632A (en) * | 2018-09-01 | 2019-02-01 | 哈尔滨工程大学 | Autonomous type underwater robot propeller fault tolerant control method based on sliding Mode Algorithm Yu the secondary adjustment of thrust |
| CN110908389B (en) * | 2019-12-17 | 2021-07-27 | 燕山大学 | Self-adaptive rapid speed tracking control method for uncertain underwater robot |
| CN111026137B (en) * | 2019-12-26 | 2022-10-28 | 西北工业大学 | Three-dimensional distributed cooperative guidance method for simultaneously attacking targets under attack angle constraint |
| CN112306076B (en) * | 2020-11-06 | 2021-09-14 | 西北工业大学 | Hybrid drive underwater robot dynamics model establishment method |
| CN112506052B (en) * | 2020-11-24 | 2022-05-31 | 西北工业大学 | Control method for resisting rotational interference of holder of underwater archaeological robot |
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