CN114265308B - Anti-saturation model-free preset performance track tracking control method for autonomous water surface aircraft - Google Patents
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Abstract
The invention discloses an anti-saturation model-free preset performance track tracking control method for an autonomous water surface vehicle, and belongs to the technical field of unmanned ship anti-interference control. The anti-saturation model-free preset performance track tracking control method of the autonomous water surface aircraft comprises the following steps of: step one, establishing an unmanned ship dynamics model considering external interference; step two, establishing a saturated function model; step three, designing an anti-saturation controller independent of model information; and fourthly, verifying stability and robustness of the unmanned ship control system. The invention can realize saturation tracking control by designing an error conversion equation and a saturation function model and adjusting preset performance parameters, has simple structure and few design parameters, and has good applicability in engineering.
Description
Technical Field
The invention relates to an anti-saturation model-free preset performance track tracking control method for an autonomous water surface aircraft, and belongs to the technical field of unmanned ship anti-interference control.
Background
Over the last decades, with the growing lack of landed resources, resources in the ocean have received increasing attention from students. In the marine exploration, the unmanned ship can reach and keep on a desired track within a specified time, and the specified engineering task is completed, so that the unmanned ship has excellent performance in tasks such as oil extraction, pipe laying and replenishment by virtue of low cost and high efficiency, and the problem of tracking control of the unmanned ship is definitely extremely high in practical significance.
However, with the continuous complexity of the working environment, the design of tracking control of unmanned vessels becomes a challenge. The design of high performance unmanned boat controllers still faces many challenges, as unmanned boat tracking performance is highly dependent on control system tamper resistance and stability. On the one hand, due to the complex working environment and the high coupling and nonlinearity of the unmanned ship, an accurate model is difficult to obtain, and accurate tracking is not possible. On the other hand, the conventional adaptive control method is difficult to effectively realize tracking control due to the fact that the conditions of large control deviation and incapability of estimating tracking errors are frequently encountered when tasks are executed.
Disclosure of Invention
The invention aims to provide an anti-saturation model-free preset performance track tracking control method of an autonomous water surface aircraft, which designs an unmanned ship anti-saturation tracking control method completely independent of model information under the condition of no need of online estimation of external interference by selecting proper preset performance functions so as to realize track tracking of an unmanned ship and solve the problems in the prior art.
The method for tracking and controlling the anti-saturation model-free preset performance track of the autonomous water surface aircraft is characterized by comprising the following steps of:
step one, establishing an unmanned ship dynamics model considering external interference;
step two, establishing a saturated function model;
step three, designing an anti-saturation controller independent of model information;
and fourthly, verifying stability and robustness of the unmanned ship control system.
Further, in the first step, specific:
the unmanned ship dynamics model established in the first step is as follows:
wherein η=[x,y,ψ] T Representing the position and yaw angle of the unmanned ship under a geocentric coordinate system;represents linear velocity and angular velocity +.>Is the inertial matrix of the system; />Is an unknown nonlinear function, including hydrodynamic and model parameter perturbations; />Representing the actual control force; />Representing the required control inputs; r (ψ) is a coordinate transformation matrix defined as follows:
further, in the second step, specific:
the following matrices and quotients are defined:
R＝R(ψ),R d ＝R(ψ d ),
the introduction theorem 1 is as follows:
for nonlinear systemsWherein-> For a non-open set, if f (t, x (t)) satisfies lipschitz's succession, then x (t) is found to have the largest solution as follows:
the introduction theorem 2 is as follows:
if k is satisfied for the continuous positive definite function V (x) 1 ||x||≤V(x)≤k 2 ||x the level is that, and is also provided withWherein->Alpha and beta are positive numbers, x (t) satisfies semi-global agreement and finally is bounded,
aiming at the problem of singularity caused by a hard equation adopted by the traditional saturation control, the saturation control is realized by designing a smooth saturation function, and the definition is as follows:
alpha in the formula i ＞0，β＞0，Approach +.>And is positive, l i (β), i=1, 2,3 is the density function satisfying l i (β)≥0，
By defining a controllerThe following formula is obtained:
substituting the designed smooth saturation function to obtain:
by definitionThe following conclusions were drawn:
namely, for the case that the upper bound of the control input signal is known, saturation control is realized by reasonably adjusting parameters so as to avoid the occurrence of singular situations.
Further, in step three, specific:
establishing an unconstrained tracking error control function, comprising:
the tracking track of the target is defined as follows:
wherein eta d ＝[x d ,y d ,ψ d ] T In order to be a target trajectory,in order to achieve the desired motion parameters,
the tracking error is further defined as:
wherein the method comprises the steps of
By definition e=rwr T ，The above is simplified as follows:
where e=rwr T ，As a non-linear parameter that is known to the system,represents the unknown disturbance of the outside world, and meets the limit,
an unconstrained error conversion equation is designed, as follows:
wherein mu i ＝η e,i /ρ i ,i＝1,2,3，η e ＝[η e,1 ,η e,2 ,η e,3 ] T Represents tracking error, ρ (t) = [ ρ ] 1 (t),ρ 2 (t),ρ 3 (t)] T The performance function representing the default is defined as follows:
ρ i (t)＝(ρ 0,i -ρ ∞,i )exp(-κ i t)+ρ ∞,i ,i＝1,2,3
preset parameter ρ in 0,i ＞|η e,i (0)|，ρ ∞,i Is the preset tracking error maximum value, kappa i The convergence speed of the tracking error can be adjusted, the set parameters are positive numbers,
thus deriving unconstrained errorsConversion functionIs smooth and strictly progressive and meetsAnd->Further obtaining the inverse function of the error transformation function to obtain eta e The relationship between ω (μ) is as follows:
wherein omega -1 (μ i ) Also meet smooth and strictly increasing and meetAnd-1 < omega -1 (μ i )＜1，
Thus predefining omega -1 (μ i ) The tracking error is found to satisfy the following properties:
the tracking error problem studied is converted into ω (μ) i ) Stability problem, design unconstrained error control equation, as follows:
where k=diag { K 1 ,K 2 ,K 3 }，K i > 0, deriving the tracking error equation:
by definitionAndthe simplification results in the following:
wherein the method comprises the steps of
And the design controller is as follows:
where k is the strictly positive control gain, Θ=diag { θ 1 ,θ 2 ,θ 3 The matrix can be designed by the user and satisfies θ i > 0, i=1, 2, 3.
Further, in step four, specific:
to verify the stability and robustness of the unmanned ship control system, mu is defined i The time derivative of (2) is as follows:
satisfies Lipohsh's continuous and local integrals, and ω (μ) i ) I=1, 2,3 is preset and is bounded by Γ i = (-1, 1), μ by introducing theorem 1 i (t) in the interval Γ i There is a maximum in, i.e.)>
The lyapunov function is selected as follows:
the derivation can be obtained:
due to eta d ，All satisfy the conditions of [0, t ] max ) The interval is bounded, thus giving +.>M -1 And E is also a member of the group,
by defining the following parameters:
wherein a is i ,b i I=1, 2,3 and q i I=1, 2 are positive numbers, substituted into the derivative of the back lyapunov function by defining s T (0) Θs (0) < 1, it is finally demonstrated that the tracking error will converge within the prescribed range.
The invention has the following beneficial effects: the invention can realize saturation tracking control by only adjusting the preset performance parameters through designing an error conversion equation and a saturation function model, has simple structure and few design parameters, and has good applicability in engineering.
Drawings
FIG. 1 is a flow chart of an anti-saturation model-free preset performance trajectory tracking control method for an autonomous surface vehicle of the present invention;
FIG. 2 is a saturated input model;
FIG. 3 (a) is a two-dimensional plan view of the tracking, FIGS. 3 (b), 3 (c) and 3 (d) are forward, yaw and yaw rate views, respectively;
fig. 4 (a), 4 (b) and 4 (c) show tracking errors of x, y and heading, and fig. 4 (d), 4 (e) and 4 (f) show control moment diagrams in three directions of forward, yaw and heading, respectively.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention is described in further detail below with reference to the drawings and the detailed description.
As shown in fig. 1, the finite time tracking control method for the under-actuated unmanned ship is designed, and comprises the following steps:
the first step, an unmanned ship dynamics model is established, as follows:
wherein η= [ x, y, ψ ]] T Representing the position and yaw angle of the unmanned ship under a geocentric coordinate system;represents the linear and angular velocity +.>Is the inertial matrix of the system; />Is an unknown nonlinear function, including hydrodynamic and model parameter perturbations; />Representing the actual control force; />Representing the required control inputs; r (ψ) is a coordinate transformation matrix defined as follows:
second, defining a saturation function:
to facilitate the subsequent derivation, we define the following matrices and quotients:
R＝R(ψ),R d ＝R(ψ d ),
the introduction theorem 1 is as follows:
for nonlinear systemsx(0)∈Ω x Wherein f (t, x (t)): is->For a non-open set, if f (t, x (t)) satisfies lipschitz's succession, it can be derived that x (t) has the largest solution as follows:
the introduction theorem 2 is as follows:
if k is satisfied for the continuous positive definite function V (x) 1 ||x||≤V(x)≤k 2 ||x the level is that, and is also provided withWherein k is 1 ,k 2 :/>And if alpha and beta are positive numbers, x (t) meets the semi-global agreement and finally is bounded.
Aiming at the problem of singularity brought by a hard equation adopted by the traditional saturation control, the invention realizes the saturation control by designing a smooth saturation function, and is defined as follows:
alpha in the formula i ＞0，β＞0，Approach +.>And is positive, l i (β), i=1, 2,3 is the density function satisfying l i (β)≥0。
By defining a controllerThe following formula can be obtained:
substitution into the designed smooth saturation function can be obtained:
by definitionThe following conclusions can be drawn:
i.e. for the case where the upper bound of the control input signal is known, saturation control can be achieved by a reasonable adjustment of the parameters to avoid singular situations.
Thirdly, establishing an unconstrained tracking error control function, which comprises the following steps:
the tracking track of the target is defined as follows:
wherein eta d ＝[x d ,y d ,ψ d ] T In order to be a target trajectory,is a desired motion parameter.
The tracking error is further defined as:
wherein the method comprises the steps of
By definition e=rwr T ，The above is simplified as follows:
where e=rwr T ，As a non-linear parameter that is known to the system,represents an external unknown disturbance and meets the constraints.
Establishing an unconstrained tracking error control function, comprising:
an unconstrained error conversion equation is designed, as follows:
wherein mu i ＝η e,i /ρ i ,i＝1,2,3，η e ＝[η e,1 ,η e,2 ,η e,3 ] T Represents tracking error, ρ (t) = [ ρ ] 1 (t),ρ 2 (t),ρ 3 (t)] T The performance function representing the default is defined as follows:
ρ i (t)＝(ρ 0,i -ρ ∞,i )exp(-κ i t)+ρ ∞,i ,i＝1,2,3
preset parameter ρ in 0,i ＞|η e,i (0)|，ρ ∞,i Is the preset tracking error maximum value, kappa i The convergence speed of the tracking error can be adjusted, and the set parameters are positive numbers.
We can therefore derive an unconstrained error transfer functionIs smooth and strictly increasing and meets +.>And->Further obtaining the inverse function of the error transformation function to obtain eta e The relationship with ω (μ) is as follows:
wherein omega -1 (μ i ) Also meet smooth and strictly increasing and meetAnd-1 < omega -1 (μ i )＜1。
Thus, only ω is predefined -1 (μ i ) We can derive that the tracking error satisfies the following properties:
the tracking error problem studied is thus translated into ω (μ) i ) Stability problems, therefore, an unconstrained error control equation is designed as follows:
where k=diag { K 1 ,K 2 ,K 3 }，K i > 0, the derivation of the tracking error equation is available:
by definitionAndthe simplification results in the following:
wherein the method comprises the steps of
And the design controller is as follows:
where k is the strictly positive control gain, Θ=diag { θ 1 ,θ 2 ,θ 3 The matrix can be designed by the user and satisfies θ i ＞0,i＝1,2,3。
Fourth, to verify the stability and robustness of the unmanned ship control system, mu is defined i The time derivative of (2) is as follows:
it can be seen thatSatisfies Lipohsh's continuous and local integrals, and ω (μ) i ) I=1, 2,3 is preset and is bounded by Γ i = (-1, 1), we derive μ by lemma 1 i (t) in the interval Γ i There is a maximum in, i.e.)>
The lyapunov function is selected as follows:
the derivation can be obtained:
due to eta d ，All satisfy the conditions of [0, t ] max ) The interval is bounded, so that +.>M -1 And E is also bounded.
By defining the following parameters:
wherein a is i ,b i I=1, 2,3 and q i I=1, 2 are positive numbers, substituted into the derivative of the back lyapunov function by defining s T (0) Θs (0) < 1, it is finally demonstrated that the tracking error will converge within the prescribed range.
The performance of the controller is then demonstrated and verified by simulation examples.
The control parameters and constraint boundaries are shown in table 1:
TABLE 1
The desired trajectory is defined as follows:
f d,1 (t)＝0.01cos(0.015πt)
f d,2 (t)＝-0.05sin(0.1πt)
f d,3 (t)＝0.01cos(0.02πt)
wherein eta d ＝[0,0,0] T ，
The initial state vector is defined as:
η(0)＝[-0.4,0.5,π/18] T ，
model perturbation and external perturbation are defined as follows:
to simulate a more realistic external disturbance, a second order Gaussian-Markov process is designed as follows:
τ d ＝z 1
wherein the method comprises the steps ofAnd Ω=diag {100,100,100} are positive definite matrices.
The detailed simulation results are shown in fig. 2-4. These results demonstrate that the proposed controller is able to guarantee the desired performance index and has good tamper resistance and robustness.
The above embodiments are only for aiding in understanding the method of the present invention and its core idea, and those skilled in the art may make several improvements and modifications in the specific embodiments and application scope according to the idea of the present invention, and these improvements and modifications should also be considered as the protection scope of the present invention.
Claims (4)
1. The method for tracking and controlling the anti-saturation model-free preset performance track of the autonomous water surface aircraft is characterized by comprising the following steps of:
step one, establishing an unmanned ship dynamics model considering external interference;
step two, establishing a saturated function model;
step three, designing an anti-saturation controller independent of model information;
step four, verifying the stability and the robustness of the unmanned ship control system,
in the third step, the specific steps are as follows:
the following matrices and quotients are defined:
R＝R(ψ),R d ＝R(ψ d ),
establishing an unconstrained tracking error control function, comprising:
the tracking track of the target is defined as follows:
wherein eta d ＝[x d ,y d ,ψ d ] T In order to be a target trajectory,for the desired movement parameters +.>Representing the linear and angular velocities in the body coordinate system,
the tracking error is further defined as:
wherein the method comprises the steps ofR (ψ) is the coordinate transformation matrix,
by definition e=rwr T ，The above is simplified as follows:
where e=rwr T ，As a nonlinear parameter known to the system, +.>Is the inertial matrix of the system; />Is an unknown nonlinear function including hydrodynamic and model parameter disturbances, < >>Representing the required control inputs; />Represents the unknown disturbance of the outside world, and meets the limit,
an unconstrained error conversion equation is designed, as follows:
wherein mu i ＝η e,i /ρ i ,i＝1,2,3，η e ＝[η e,1 ,η e,2 ,η e,3 ] T Represents tracking error, ρ (t) = [ ρ ] 1 (t),ρ 2 (t),ρ 3 (t)] T The performance function representing the default is defined as follows:
ρ i (t)＝(ρ 0,i -ρ ∞,i )exp(-κ i t)+ρ ∞,i ,i＝1,2,3
preset parameter ρ in 0,i ＞|η e,i (0)|，ρ ∞,i Is the preset tracking error maximum value, kappa i The convergence rate of the tracking error can be adjusted, the set parameters are positive numbers,
thus, an unconstrained error transfer function is obtainedIs smooth and strictly progressive and meetsAnd->Further obtaining the inverse function of the error transformation function to obtain eta e The relationship between ω (μ) is as follows:
wherein omega -1 (μ i ) Also meet smooth and strictly increasing and meetAnd->
Thus predefining omega -1 (μ i ) The tracking error is found to satisfy the following properties:
the tracking error problem studied is converted into ω (μ) i ) Stability problem, design unconstrained error control equation, as follows:
where k=diag { K 1 ,K 2 ,K 3 }，K i > 0, deriving the tracking error equation:
by definitionAnd->The simplification results in the following:
wherein the method comprises the steps of
And the design controller is as follows:
where k is the strictly positive control gain, Θ=diag { θ 1 ,θ 2 ,θ 3 The matrix can be designed by the user and satisfies θ i > 0, i=1, 2, 3.
2. The method for tracking and controlling the performance of an autonomous water surface vehicle according to claim 1, wherein in the first step, the method is specifically:
the unmanned ship dynamics model established in the step one is as follows:
wherein η= [ x, y, ψ ]] T Representing the position and yaw angle of the unmanned ship under a geocentric coordinate system;representing the actual control force, the definition is as follows:
3. the method for tracking and controlling the anti-saturation model-free preset performance track of an autonomous water surface vehicle according to claim 2, wherein in the second step, the method is specifically:
the introduction theorem 1 is as follows:
for nonlinear systemsWherein-> For a non-open set, if f (t, x (t)) satisfies lipschitz's succession, then x (t) is found to have the largest solution as follows:
the introduction theorem 2 is as follows:
if k is satisfied for the continuous positive definite function V (x) 1 ||x||≤V(x)≤k 2 ||x the level is that, and is also provided withWherein the method comprises the steps ofAlpha and beta are positive numbers, x (t) satisfies semi-global agreement and finally is bounded,
aiming at the problem of singularity caused by a hard equation adopted by the traditional saturation control, the saturation control is realized by designing a smooth saturation function, and the definition is as follows:
alpha in the formula i ＞0，β＞0，Approach +.>And is positive, l i (β), i=1, 2,3 is the density function satisfying l i (β)≥0，
By defining a controllerThe following formula is obtained:
substituting the designed smooth saturation function to obtain:
by definitionThe following conclusions were drawn:
i.e. for the case where the upper bound of the control input signal is known, saturation control is achieved by rational adjustment of parameters to avoid singular situations.
4. The method for tracking and controlling the performance of an autonomous water surface vehicle according to claim 3, wherein in the fourth step, the method is specifically:
to verify the stability and robustness of the unmanned ship control system, mu is defined i The time derivative of (2) is as follows:
satisfies Lipohsh's continuous and local integrals, and ω (μ) i ) I=1, 2,3 is preset and is bounded by Γ i = (-1, 1), μ by introducing theorem 1 i (t) in the interval Γ i There is a maximum in, i.e.)>
The lyapunov function is selected as follows:
the derivation can be obtained:
due to eta d ,All satisfy the conditions of [0, t ] max ) The interval is bounded, thus giving +.>And E is also a member of the group,
by defining the following parameters:
wherein a is i ,b i I=1, 2,3 and q i I=1, 2 are positive numbers, substituted into the derivative of the back lyapunov function by defining s T (0) Θs (0) < 1, it is finally demonstrated that the tracking error will converge within the prescribed range.
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