CN111831011A - Method for tracking and controlling plane track of underwater robot - Google Patents

Method for tracking and controlling plane track of underwater robot Download PDF

Info

Publication number
CN111831011A
CN111831011A CN202010791161.2A CN202010791161A CN111831011A CN 111831011 A CN111831011 A CN 111831011A CN 202010791161 A CN202010791161 A CN 202010791161A CN 111831011 A CN111831011 A CN 111831011A
Authority
CN
China
Prior art keywords
underwater robot
formula
finite time
tracking
disturbance observer
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.)
Granted
Application number
CN202010791161.2A
Other languages
Chinese (zh)
Other versions
CN111831011B (en
Inventor
赵红
陈浩华
王宁
何红坤
陈廷凯
鲁挺
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Dalian Maritime University
Original Assignee
Dalian Maritime University
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Dalian Maritime University filed Critical Dalian Maritime University
Priority to CN202010791161.2A priority Critical patent/CN111831011B/en
Publication of CN111831011A publication Critical patent/CN111831011A/en
Application granted granted Critical
Publication of CN111831011B publication Critical patent/CN111831011B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • 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)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Medical Informatics (AREA)
  • Software Systems (AREA)
  • Evolutionary Computation (AREA)
  • Health & Medical Sciences (AREA)
  • Artificial Intelligence (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The invention discloses a method for tracking and controlling a plane track of an underwater robot based on a finite time disturbance observer, which comprises the following steps: designing a track tracking error system; and designing a control law. The finite time disturbance observer designed by the invention can accurately observe external disturbance by considering the complex interference situation of the underwater robot in the underwater, and realizes that the tracking error is stabilized to zero in finite time. The nonsingular terminal sliding mode designed by the invention selects the power approximation law, so that the system can be ensured to be converged in a limited time, buffeting of control input can be reduced, the control input continuity is realized, and the robustness of the system is improved. The invention provides a nonsingular terminal sliding mode control method based on a finite time disturbance observer aiming at the horizontal plane track tracking control of an underwater robot, adopts a power approximation law, and compared with the research of other people, ensures the finite time convergence of a system and ensures the continuous and smooth control input.

Description

Method for tracking and controlling plane track of underwater robot
Technical Field
The invention belongs to the field of motion control of underwater robots, and particularly relates to a plane trajectory tracking control method of an underwater robot based on a finite time disturbance observer.
Background
The underwater robot is a typical strong nonlinear system, and the cross coupling among the degrees of freedom is easily interfered by the outside world under the complex marine environment. This makes the research on the trajectory tracking control of underwater robots still a huge challenge.
The Daiheng et al analyzes the reason for coupling according to the motion characteristics of the underwater robot and establishes a mathematical model of the underwater robot from the perspective of reducing the control coupling effect. By means of sliding mode control and further adding coupling terms into the control quantity, a trajectory tracking control law of the underwater robot in planar motion is designed, and robustness and anti-interference capability in the tracking process are met.
Under the interference of external disturbance, although the selected sliding mode control approach law with higher gain can compensate the external disturbance, the control input curve generates buffeting and loss due to excessively high control gain.
Disclosure of Invention
In order to solve the problems in the prior art, the invention aims to design a method for tracking and controlling the plane trajectory of the underwater robot based on the finite-time disturbance observer, which can ensure the finite-time convergence of a system and reduce control input buffeting.
In order to achieve the above object, the basic idea of the present invention is as follows: firstly, in order to facilitate the design of the control law, a position and speed tracking error system is defined according to an underwater robot mathematical model. Then, a horizontal plane three-degree-of-freedom nonsingular terminal sliding mode control law is designed according to the system, a finite time disturbance observer is designed aiming at the interference of external disturbance on a tracking system, the buffeting problem in the sliding process is considered, a power approximation law is adopted, the buffeting of the system is reduced under the characteristic of guaranteeing the finite time convergence of the system, and a smooth control input curve is obtained. And finally, a Lyapunov function is used for proving the stability of the system under the control law, the accurate tracking of the water surface track of the underwater robot is realized, and the MATLAB simulation is used for verifying the result.
The technical scheme of the invention is as follows: a method for tracking and controlling a plane track of an underwater robot based on a finite time disturbance observer comprises the following steps:
A. design trajectory tracking error system
The three-degree-of-freedom mathematical model of the horizontal plane of the underwater robot is described as follows:
Figure BDA0002623791030000021
in the formula: the longitudinal displacement x, the transverse displacement y and the heading angle psi of the underwater robot in the inertial coordinate system are recorded as eta ═ x y psi]T(ii) a Under an attached coordinate system, the longitudinal linear velocity u, the transverse linear velocity v and the course angular velocity r of the underwater robot are recorded as upsilon ═ u v r]T(ii) a The inertial coordinate system E-XYZ takes the earth as the origin of coordinates, EZ points to the geocentric, and EX, EY and EZ are mutually vertical; the attached body coordinate system O-xyz takes the center of the underwater robot as the origin of coordinates, O-x points to the front of the motion of the underwater robot, O-y points to the right side of the underwater robot, and O-z points to the lower part of the underwater robot perpendicular to the xOy plane. . Inputting longitudinal control into tau1Transverse control input τ2And course angle control input τ3Is recorded as τ ═ τ1τ2τ3]TD represents external interference, and d is MJT(η)(t)，(t)＝[1 2 3]TWherein1Indicating the interference experienced in the longitudinal direction,2indicating the interference experienced in the lateral direction,3representing the disturbance of course angle, J (eta) representing the inertial coordinate system andand the attached coordinate system conversion matrix is described as follows:
Figure BDA0002623791030000022
and has JT(η)＝J-1(η)，
Figure BDA0002623791030000023
Wherein R (r) is described as:
Figure BDA0002623791030000024
m represents a mass and additional mass matrix, and M is equal to MT> 0, C (upsilon) denotes the Coriolis and centripetal force matrix, and has C (upsilon) ═ CT(upsilon), D (upsilon) represents a damping matrix, which is specifically described as:
Figure BDA0002623791030000025
Figure BDA0002623791030000026
Figure BDA0002623791030000031
wherein m is the mass of the underwater robot, IzIn order to be the moment of inertia,
Figure BDA0002623791030000037
hydrodynamic derivatives, X, of longitudinal, transverse and course angle, respectivelyu,Yv,NrFirst order damping coefficients, X, for longitudinal, transverse and course angles, respectivelyu|u|,Yv|v|,Nr|r|The second order damping coefficients of the longitudinal, transverse and course angles are provided.
Based on the above models, a mathematical model of the planar three-degree-of-freedom expected trajectory is obtained, which is described as follows:
Figure BDA0002623791030000032
in the formula: etad＝[xdydψd]TPosition, v, representing a desired trajectoryd＝[udvdrd]TIndicating the speed of the desired track, τd＝[τd1τd2τd3]TA control input representing a desired trajectory.
According to the above three-degree-of-freedom mathematical model, for the convenience of design, state variables are defined as follows:
Figure BDA0002623791030000033
in the formula: Θ ═ Θ1Θ2Θ3]T，Θd＝[Θd1Θd2Θd3]T。
Then, the mathematical model of the three-degree-of-freedom desired trajectory is rewritten as:
Figure BDA0002623791030000034
in the formula:
also, the mathematical model of the desired trajectory is rewritten as:
Figure BDA0002623791030000035
in the formula:
Ω＝-J(η)M-1(C(J-1(η)Θ)+D(J-1(η)Θ))J-1(η)Θ+R(Θ3)Θ
Ωd＝-J(ηd)M-1(C(J-1(ηd)Θd)+D(J-1(ηd)Θd))J-1(ηd)Θd+R(Θd3)Θd
the position and velocity tracking error system obtained from equations (9) - (10) is described as follows:
Figure BDA0002623791030000036
in the formula:
Figure BDA0002623791030000041
Θe＝Θ-Θd，Ωe＝Ω-Ωd-J(ηd)M-1τd。
B. law of design control
A finite time disturbance observer is designed aiming at external disturbance, and the external disturbance is supposed to meet the following conditions:
||d||≤E (12)
in the formula: e is a bounded constant and is positive.
In order to improve the anti-interference capability of the trajectory tracking control system, a finite time disturbance observer is designed, and is described as follows:
Figure BDA0002623791030000042
wherein:
Figure BDA0002623791030000043
in the formula: z is a radical ofi＝[zi1zi2zi3]TI is 0,1,2, wherein z0Is an estimate of the matrix M upsilon, z1For external disturbancedEstimate of z2Is composed of
Figure BDA0002623791030000044
An estimate of (d).
ζj＝[ζj1ζj2ζj3]TJ is 0,1,2 for the state observed value of the finite time disturbance observer.
lk＞0，k＝1,2,3，L＝diag(l1,l2,l3) Is a finite time disturbance observer parameter which is a constant. According to the formula(11) Designing a nonsingular terminal sliding mode surface, and describing as follows:
s＝ηe+βΘe q/p(15)
in the formula: beta is a constant and is larger than zero, q and p are positive odd numbers, and q/p is more than 1 and less than 2.
The above formula is derived:
Figure BDA0002623791030000045
in conjunction with the tracking error system (11), the above equation is rewritten as:
Figure BDA0002623791030000046
in the formula: diag (·) denotes a diagonal matrix.
According to the above description, a nonsingular terminal sliding mode control law of the finite time disturbance observer is designed, and the following description is given:
Figure BDA0002623791030000047
in the formula:
Figure BDA0002623791030000048
power approximation law representing nonsingular terminal sliding mode, Λ ═ diag (κ)1,κ2,κ3) Denotes a constant diagonal matrix, wherei> 0, i ═ 1,2,3, α is a constant, and 0 < α < 1, sgn(s) ═ sgn(s)1) sgn(s2) sgn(s3)]T。
To demonstrate that the invention is stable for a limited time, the following has been demonstrated:
the Lyapunov function is chosen and described as follows:
Figure BDA0002623791030000051
taking the derivative of the above formula, combining formula (17) and formula (18) yields:
Figure BDA0002623791030000052
order to
Figure BDA0002623791030000053
With respect to binding formula (21), formula (20) can be written as:
Figure BDA0002623791030000054
in the formula, q/p-1 is more than 0, beta is more than 0, lambda is more than 0, q and p are positive odd numbers, and the matrix delta is a positive definite matrix. Can obtain the product
Figure BDA0002623791030000055
The system is gradually stable according to the theorem of the gradual stability of the system.
Further, the system is proven to have a finite time convergence. According to the above formula:
Figure BDA0002623791030000056
in the formula: lambda [ alpha ]min(Δ) represents the minimum eigenvalue of matrix Δ.
Order to
Q＝2(α+1)/2λmin(Δ) (24)
Equation (23) can be written as:
Figure BDA0002623791030000057
wherein 0.5 < (alpha +1)/2 < 1, and the system is stable in a limited time according to the finite time stability theorem.
Compared with the prior art, the invention has the following beneficial effects:
1. considering the complex interference situation of an underwater robot in the underwater, the invention designs a nonsingular terminal sliding mode control method (FDO-NTSMC) based on a finite time disturbance observer. The designed finite time disturbance observer can accurately observe external disturbance, and the tracking error is stabilized to zero in finite time.
2. The nonsingular terminal sliding mode designed by the invention selects the power approximation law, so that the system can be ensured to be converged in a limited time, buffeting of control input can be reduced, the control input continuity is realized, and the robustness of the system is improved.
3. The invention provides a nonsingular terminal sliding mode control method based on a finite time disturbance observer aiming at the horizontal plane track tracking control of an underwater robot, adopts a power approximation law, and compared with the research of other people, ensures the finite time convergence of a system and ensures the continuous and smooth control input.
Drawings
FIG. 1 is a schematic diagram of an inertial coordinate system and an attached body coordinate system.
Fig. 2 is a horizontal plane trajectory tracking curve.
Fig. 3 is a longitudinal control input curve.
Fig. 4 is a lateral control input curve.
Fig. 5 is a course angle control input curve.
Fig. 6 is a longitudinal displacement tracking error curve.
Fig. 7 is a lateral displacement tracking error curve.
Fig. 8 is a course angle tracking error curve.
Fig. 9 is a longitudinal velocity tracking error curve.
Fig. 10 is a lateral velocity tracking error curve.
Fig. 11 is a course angular velocity tracking error curve.
FIG. 12 is a longitudinal perturbation observation error curve.
FIG. 13 is a lateral disturbance observation error curve.
FIG. 14 is a course angle disturbance observation error curve.
Detailed Description
The invention is further described below with reference to the accompanying drawings. As shown in fig. 1, it is a schematic diagram of an inertial coordinate system and an attached body coordinate system, where the inertial coordinate system E-XYZ takes the earth as the origin of coordinates, EZ points to the center of the earth, and EX, EY and EZ are perpendicular to each other; the attached body coordinate system O-xyz takes the center of the underwater robot as the origin of coordinates, O-x points to the front of the motion of the underwater robot, O-y points to the right side of the underwater robot, and O-z points to the lower part of the underwater robot perpendicular to the xOy plane. Since newton's law cannot be applied to an attached coordinate system, it is necessary to convert variables in the attached coordinate system to an inertial coordinate system for calculation. As shown in fig. 2, which is a horizontal plane trajectory tracking control curve, a solid line represents an actual tracking curve obtained by the method of the present invention, and a dotted line represents a desired trajectory dotted line, it can be seen that the method of the present invention can achieve accurate tracking of a trajectory. As shown in fig. 3, 4, and 5, the control input curves of the longitudinal direction, the transverse direction, and the heading angle are shown, and it can be seen from the graphs that the method provided by the present invention can obtain a smooth control input curve, and can effectively reduce buffeting. As shown in fig. 6, 7 and 8, which are graphs of lateral displacement, lateral displacement and heading angle tracking error, it can be seen that the method proposed by the present invention can stabilize the error to zero within a limited time. As shown in fig. 9, 10, and 11, which are graphs of tracking errors of lateral velocity, and heading angular velocity, it can be seen that the method of the present invention can achieve accurate tracking of velocity and angular velocity, so that the tracking error thereof is stabilized to zero within a limited time. As shown in fig. 12, 13, and 14, which are longitudinal, transverse, and course angle disturbance observation error curves, it can be seen that the method of the present invention can accurately observe external disturbance, so that the observation error can be stabilized to zero within a limited time.
The present invention is not limited to the embodiment, and any equivalent idea or change within the technical scope of the present invention is to be regarded as the protection scope of the present invention.

Claims (1)

1. A method for tracking and controlling a plane track of an underwater robot based on a finite time disturbance observer is characterized by comprising the following steps: the method comprises the following steps:
A. design trajectory tracking error system
The three-degree-of-freedom mathematical model of the horizontal plane of the underwater robot is described as follows:
Figure FDA0002623791020000011
in the formula: the longitudinal displacement x, the transverse displacement y and the heading angle psi of the underwater robot in the inertial coordinate system are recorded as eta ═ x y psi]T(ii) a Under an attached coordinate system, the longitudinal linear velocity u, the transverse linear velocity v and the course angular velocity r of the underwater robot are recorded as upsilon ═ u v r]T(ii) a The inertial coordinate system E-XYZ takes the earth as the origin of coordinates, EZ points to the geocentric, and EX, EY and EZ are mutually vertical; the attached body coordinate system O-xyz takes the center of the underwater robot as the origin of coordinates, O-x points to the front of the motion of the underwater robot, O-y points to the right side of the underwater robot, and O-z points to the lower part of the underwater robot perpendicular to the xOy plane; (ii) a Inputting longitudinal control into tau1Transverse control input τ2And course angle control input τ3Is recorded as τ ═ τ1τ2τ3]TD represents external interference, and d is MJT(η)(t)，(t)＝[1 2 3]TWherein1Indicating the interference experienced in the longitudinal direction,2indicating the interference experienced in the lateral direction,3representing the interference of a course angle, and J (eta) representing a transformation matrix of an inertial coordinate system and an attached coordinate system, wherein the transformation matrix is described as follows:
Figure FDA0002623791020000012
and has JT(η)＝J-1(η)，
Figure FDA0002623791020000015
Wherein R (r) is described as:
Figure FDA0002623791020000013
m represents a mass and additional mass matrix, and M is equal to MT＞0，C (upsilon) represents a Coriolis and centripetal force matrix, and has the value of C (upsilon) ═ CT(upsilon), D (upsilon) represents a damping matrix, which is specifically described as:
Figure FDA0002623791020000014
Figure FDA0002623791020000021
Figure FDA0002623791020000022
wherein m is the mass of the underwater robot, IzIn order to be the moment of inertia,
Figure FDA0002623791020000027
hydrodynamic derivatives, X, of longitudinal, transverse and course angle, respectivelyu,Yv,NrFirst order damping coefficients, X, for longitudinal, transverse and course angles, respectivelyu|u|,Yv|v|,Nr|r|Second-order damping coefficients of longitudinal, transverse and course angles respectively;
based on the above models, a mathematical model of the planar three-degree-of-freedom expected trajectory is obtained, which is described as follows:
Figure FDA0002623791020000023
in the formula: etad＝[xdydψd]TPosition, v, representing a desired trajectoryd＝[udvdrd]TIndicating the speed of the desired track, τd＝[τd1τd2τd3]TA control input representing a desired trajectory;
according to the above three-degree-of-freedom mathematical model, for the convenience of design, state variables are defined as follows:
Figure FDA0002623791020000024
in the formula: Θ ═ Θ1Θ2Θ3]T，Θd＝[Θd1Θd2Θd3]T；
Then, the mathematical model of the three-degree-of-freedom desired trajectory is rewritten as:
Figure FDA0002623791020000025
in the formula:
also, the mathematical model of the desired trajectory is rewritten as:
Figure FDA0002623791020000026
in the formula:
Ω＝-J(η)M-1(C(J-1(η)Θ)+D(J-1(η)Θ))J-1(η)Θ+R(Θ3)Θ
Ωd＝-J(ηd)M-1(C(J-1(ηd)Θd)+D(J-1(ηd)Θd))J-1(ηd)Θd+R(Θd3)Θd
the position and velocity tracking error system obtained from equations (9) - (10) is described as follows:
Figure FDA0002623791020000031
in the formula:
Figure FDA0002623791020000032
Θe＝Θ-Θd，Ωe＝Ω-Ωd-J(ηd)M-1τd；
B. law of design control
A finite time disturbance observer is designed aiming at external disturbance, and the external disturbance is supposed to meet the following conditions:
||d||≤E (12)
in the formula: e is a bounded constant and is positive;
in order to improve the anti-interference capability of the trajectory tracking control system, a finite time disturbance observer is designed, and is described as follows:
Figure FDA0002623791020000033
wherein:
Figure FDA0002623791020000034
in the formula: z is a radical ofi＝[zi1zi2zi3]TI is 0,1,2, wherein z0Is an estimate of the matrix M upsilon, z1For external disturbancedEstimate of z2Is composed of
Figure FDA0002623791020000037
An estimated value of (d);
ζj＝[ζj1ζj2ζj3]Tthe state observed value of the finite time disturbance observer is j equal to 0,1, 2;
Figure FDA0002623791020000038
k＝1,2,3，L＝diag(l1,l2,l3) Is a finite time disturbance observer parameter which is a constant;
the nonsingular terminal sliding mode surface is designed according to equation (11), and is described as follows:
s＝ηe+βΘe q/p(15)
in the formula: beta is a constant and is larger than zero, q and p are positive odd numbers, and q/p is more than 1 and less than 2;
the above formula is derived:
Figure FDA0002623791020000035
in conjunction with the tracking error system (11), the above equation is rewritten as:
Figure FDA0002623791020000036
in the formula: diag (·) denotes a diagonal matrix;
according to the above description, a nonsingular terminal sliding mode control law of the finite time disturbance observer is designed, and the following description is given:
Figure FDA0002623791020000041
in the formula:
Figure FDA0002623791020000042
power approximation law representing nonsingular terminal sliding mode, Λ ═ diag (κ)1,κ2,κ3) Denotes a constant diagonal matrix, wherei> 0, i ═ 1,2,3, α is a constant, and 0 < α < 1, sgn(s) ═ sgn(s)1) sgn(s2) sgn(s3)]T。
CN202010791161.2A 2020-08-07 2020-08-07 Method for tracking and controlling plane track of underwater robot Active CN111831011B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010791161.2A CN111831011B (en) 2020-08-07 2020-08-07 Method for tracking and controlling plane track of underwater robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010791161.2A CN111831011B (en) 2020-08-07 2020-08-07 Method for tracking and controlling plane track of underwater robot

Publications (2)

Publication Number Publication Date
CN111831011A true CN111831011A (en) 2020-10-27
CN111831011B CN111831011B (en) 2023-12-12

Family

ID=72919704

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010791161.2A Active CN111831011B (en) 2020-08-07 2020-08-07 Method for tracking and controlling plane track of underwater robot

Country Status (1)

Country Link
CN (1) CN111831011B (en)

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112286227A (en) * 2020-11-03 2021-01-29 西北工业大学 Underwater robot track control method and system based on differential tracker and disturbance observer
CN112540536A (en) * 2020-11-27 2021-03-23 南京航空航天大学 Design method of sliding mode optimization controller of worm pipeline robot
CN112947505A (en) * 2021-03-22 2021-06-11 哈尔滨工程大学 Multi-AUV formation distributed control method based on reinforcement learning algorithm and unknown disturbance observer
CN112947067A (en) * 2021-01-26 2021-06-11 大连海事大学 Three-dimensional track accurate tracking control method for underwater robot
CN113110530A (en) * 2021-04-16 2021-07-13 大连海事大学 Underwater robot path planning method for three-dimensional environment
CN113110430A (en) * 2021-04-02 2021-07-13 大连海事大学 Model-free fixed-time accurate trajectory tracking control method for unmanned ship
CN113110527A (en) * 2021-04-12 2021-07-13 大连海事大学 Cascade control method for finite time path tracking of autonomous underwater vehicle
CN113238567A (en) * 2021-04-30 2021-08-10 哈尔滨工程大学 Benthonic AUV weak buffeting integral sliding mode point stabilizing control method based on extended state observer

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6185467B1 (en) * 1998-09-02 2001-02-06 Cirrus Logic, Inc. Adaptive discrete-time sliding mode controller
CN108828955A (en) * 2018-08-16 2018-11-16 大连海事大学 Accurate Track In Track control method based on finite time extended state observer
CN110032197A (en) * 2019-05-07 2019-07-19 大连海事大学 A kind of unmanned boat path tracking control method for guiding and controlling based on finite time
US20200001921A1 (en) * 2017-02-28 2020-01-02 Renault S.A.S. Device for controlling the trajectory of a vehicle
CN111185907A (en) * 2020-01-13 2020-05-22 福州大学 Pose stability control method for operation type flying robot after grabbing
CN111431403A (en) * 2020-02-21 2020-07-17 浙江工业大学 Direct-current boost converter system control method based on nonlinear extended state observer and PD control technology

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6185467B1 (en) * 1998-09-02 2001-02-06 Cirrus Logic, Inc. Adaptive discrete-time sliding mode controller
US20200001921A1 (en) * 2017-02-28 2020-01-02 Renault S.A.S. Device for controlling the trajectory of a vehicle
CN108828955A (en) * 2018-08-16 2018-11-16 大连海事大学 Accurate Track In Track control method based on finite time extended state observer
CN110032197A (en) * 2019-05-07 2019-07-19 大连海事大学 A kind of unmanned boat path tracking control method for guiding and controlling based on finite time
CN111185907A (en) * 2020-01-13 2020-05-22 福州大学 Pose stability control method for operation type flying robot after grabbing
CN111431403A (en) * 2020-02-21 2020-07-17 浙江工业大学 Direct-current boost converter system control method based on nonlinear extended state observer and PD control technology

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
冒建亮;李奇;朱海荣;: "多源扰动下光电跟踪系统连续非奇异终端滑模控制", 控制理论与应用, no. 04 *

Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112286227A (en) * 2020-11-03 2021-01-29 西北工业大学 Underwater robot track control method and system based on differential tracker and disturbance observer
CN112540536A (en) * 2020-11-27 2021-03-23 南京航空航天大学 Design method of sliding mode optimization controller of worm pipeline robot
CN112947067B (en) * 2021-01-26 2024-02-20 大连海事大学 Precise tracking control method for three-dimensional track of underwater robot
CN112947067A (en) * 2021-01-26 2021-06-11 大连海事大学 Three-dimensional track accurate tracking control method for underwater robot
CN112947505B (en) * 2021-03-22 2022-11-25 哈尔滨工程大学 Multi-AUV formation distributed control method based on reinforcement learning algorithm and unknown disturbance observer
CN112947505A (en) * 2021-03-22 2021-06-11 哈尔滨工程大学 Multi-AUV formation distributed control method based on reinforcement learning algorithm and unknown disturbance observer
CN113110430A (en) * 2021-04-02 2021-07-13 大连海事大学 Model-free fixed-time accurate trajectory tracking control method for unmanned ship
CN113110430B (en) * 2021-04-02 2024-01-30 大连海事大学 Unmanned ship model-free fixed time accurate track tracking control method
CN113110527A (en) * 2021-04-12 2021-07-13 大连海事大学 Cascade control method for finite time path tracking of autonomous underwater vehicle
CN113110527B (en) * 2021-04-12 2023-12-01 大连海事大学 Cascading control method for finite time path tracking of autonomous underwater vehicle
CN113110530A (en) * 2021-04-16 2021-07-13 大连海事大学 Underwater robot path planning method for three-dimensional environment
CN113110530B (en) * 2021-04-16 2023-11-21 大连海事大学 Underwater robot path planning method for three-dimensional environment
CN113238567A (en) * 2021-04-30 2021-08-10 哈尔滨工程大学 Benthonic AUV weak buffeting integral sliding mode point stabilizing control method based on extended state observer
CN113238567B (en) * 2021-04-30 2021-12-10 哈尔滨工程大学 Benthonic AUV weak buffeting integral sliding mode point stabilizing control method based on extended state observer

Also Published As

Publication number Publication date
CN111831011B (en) 2023-12-12

Similar Documents

Publication Publication Date Title
CN111831011A (en) Method for tracking and controlling plane track of underwater robot
CN108527372B (en) Robot joint self-adaptive control method of variable-rigidity series elastic driver
CN112947067B (en) Precise tracking control method for three-dimensional track of underwater robot
CN107121932B (en) Motor servo system error symbol integral robust self-adaptive control method
CN114536334B (en) High-order sliding mode anti-interference control method for flexible mechanical arm system
CN112223275B (en) Cooperative robot control method based on finite time tracking control
CN113183154B (en) Adaptive inversion control method of flexible joint mechanical arm
CN110977988A (en) Multi-joint mechanical arm impedance control method based on finite time command filtering
CN108267952B (en) Self-adaptive finite time control method for underwater robot
CN112936277B (en) Method for tracking fixed time track of underwater robot-manipulator system
CN105807789A (en) UUV control method based on T-S fuzzy observer compensation
CN112327892B (en) Anti-interference control method with AUV (autonomous Underwater vehicle) error limited
CN112269317B (en) Bilateral teleoperation control method based on extended Kalman filter
CN110744552A (en) Flexible mechanical arm motion control method based on singular perturbation theory
CN114265308A (en) Anti-saturation model-free preset performance track tracking control method for autonomous water surface vehicle
CN115476356A (en) Self-adaptive hybrid impedance control method of space manipulator without force sensor
CN106570296A (en) Six degree of freedom parallel mechanism real-time forward displacement solution
CN109108964B (en) Spatial mechanical arm coordination control method based on adaptive dynamic programming Nash game
CN114939869A (en) Mechanical arm trajectory tracking method based on nonsingular rapid terminal sliding mode
CN115951693B (en) Robust track tracking control method for under-actuated underwater robot
CN116382332B (en) UDE-based fighter plane large maneuver robust flight control method
CN112223276A (en) Multi-joint robot control method based on adaptive neural network sliding mode control
CN116160442A (en) Dynamic surface track tracking control method for preset performance of mechanical arm system
CN116068901A (en) Flexible connecting rod mechanical arm control method based on self-adaptive finite time disturbance observer
CN113618743B (en) Unmanned aerial vehicle mechanical arm tail end pose control method for multi-source interference

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant