CN115167481A - Under-actuated unmanned ship preset performance path tracking control method and system - Google Patents
Under-actuated unmanned ship preset performance path tracking control method and system Download PDFInfo
- Publication number
- CN115167481A CN115167481A CN202211035618.2A CN202211035618A CN115167481A CN 115167481 A CN115167481 A CN 115167481A CN 202211035618 A CN202211035618 A CN 202211035618A CN 115167481 A CN115167481 A CN 115167481A
- Authority
- CN
- China
- Prior art keywords
- preset
- preset performance
- error
- performance
- law
- 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.)
- Pending
Links
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
Abstract
The invention belongs to the field of unmanned ship control, and relates to an under-actuated unmanned ship preset performance path tracking control method and system. Starting from the angle of engineering practice, firstly designing an anti-tangent type path tracking preset performance guidance law on the aspect of kinematics; and then, designing a virtual speed law, a preset time dynamics control law and a robust self-adaptive law on a dynamics level, so that the whole course of the course tracking error is within a preset performance limit. Meanwhile, the transverse error is within a preset limit at all times after meeting the preset performance condition, so that the expected path is accurately tracked. The designed control strategy can ensure the convergence of the preset performance and the preset time of the system error, and the safety of the unmanned ship in task execution is ensured.
Description
Technical Field
The invention belongs to the field of unmanned ship (including underwater vehicles, underwater robots, unmanned ships on water and the like) control, and particularly relates to an under-actuated unmanned ship preset performance path tracking control method and system.
Background
In recent years, along with the development and utilization of ocean resources, unmanned boats (including underwater vehicles, underwater robots, unmanned ships on water and the like) begin to be widely applied and developed, path tracking control is an important part of the unmanned boats for realizing the autonomous navigation function, and the design of a controller directly influences the tracking precision and the operation safety of the unmanned boats on preset paths. Therefore, path tracking control of unmanned boats is one of the hot problems in recent years.
In order to achieve the purpose of unmanned ships, domestic and foreign scholars design controllers based on nonlinear algorithms such as a backstepping method and a sliding mode and have already achieved a lot of better results. In a kinematic level algorithm in the unmanned boat path tracking control, a LOS guidance algorithm can smoothly guide the unmanned boat to a desired path. However, transient performance, which is also critical to unmanned boat operations, often lacks constraints. Therefore, further optimization is needed, and the transient state and the steady state performance of the path tracking error state are considered. In the aspect of dynamics, most of the results obtained by the current research on the heading tracking controller are asymptotic stability, that is, the heading tracking error is converged after an infinite time, but the time required for the convergence of the error cannot be guaranteed. In response to this problem, it is necessary to design the dynamic controller in combination with the preset time theory so that the heading tracking error converges within the preset time.
Disclosure of Invention
Aiming at the defects or the improvement requirements in the prior art, the invention provides a path tracking control method for the preset performance of an under-actuated unmanned ship, aiming at realizing the consideration of the transient performance and the preset time in the motion control process of the under-actuated unmanned ship, thereby solving the technical problem of the path tracking control of the safe navigation of the unmanned ship.
In order to achieve the above object, according to one aspect of the present invention, there is provided an under-actuated unmanned ship preset performance path tracking control method that expects an unmanned ship to converge on a desired path within a preset time period without exceeding a preset envelope range throughout. Firstly, combining a preset performance function, a preset time function and a preset performance conversion error function to complete error conversion, and laying a foundation for subsequent controller design; then, an arctangent preset performance sight line guidance law available for engineering practice is designed, at the initial large error moment, the guidance law is a proportional sight line angle, the tracking error is driven to gradually converge to zero, the error converges to meet a performance switching inequality and then enters a preset performance control stage, and the error is strictly in a constraint. The method absorbs the essence of the traditional line of sight angle, has simple structure, does not need to introduce a self-adaptive item, and does not need to make initial condition hypothesis; then, a preset performance virtual speed law is designed to guide the unmanned ship to achieve a preset performance target; and finally, designing a preset time dynamics control law based on a robust adaptive technology, wherein the control law does not expect that the error converges to zero within the preset time any more, and only needs to converge to a preset residual error limit, so that the accurate path tracking control is finally completed. Wherein:
the preset performance function is:
ρ＝(ρ 0 -ρ ∞ )e -κt +ρ ∞
where ρ is 0 At a defined initial margin of error, p ∞ For the maximum allowable static deviation during the steady state, κ is the normal number to be set, and its value determines the convergence rate.
The preset time function is as follows:
where e is a natural constant, T is a convergence time preset by a control engineer, and σ >0 and b > ε >0 are design parameters. The choice of σ determines the rate of system error convergence, while ε determines the final tracking accuracy.
The predetermined performance transfer error function is defined as:
wherein, y e The lateral deviation of the actual position of the unmanned ship from the expected path; p (y) e ) Is a variable switched with error and is defined as
e l And e u The error bound, which is a time-varying attenuation, can be expressed as
In the formula of l And delta u Are parameters to be selected.
The arctangent preset performance sight guiding law is as follows:
wherein, γ d In order to be the tangential angle of the path,
for the slip angle, u and v are the forward and lateral velocities, k, respectively, defined in the unmanned boat vehicle coordinate system los For positive determination of the parameter to be selected, the switching inequality is defined as follows
Wherein sigma epsilon (0, 1) is a condition parameter selected by a control engineer,
the horizontal plane resultant velocity. When the two inequalities are satisfied simultaneously, the guidance law is switched. The first inequality is a performance inequality intended to ensure that control can achieve a preset performance target. And the second inequality is the initial condition judgment inequality, aiming atThe preset performance limit is violated at an initial time after the avoidance of the handover. The anti-tangential type path tracking preset performance sight guiding law does not need to restrict the initial position in the existing preset performance work, and the algorithm is simple in structure and more convenient for engineering application.
The preset performance virtual speed law is as follows:
wherein k is ψ1 To control the parameter, ζ P In order to be a non-linear transfer function,
is its first derivative,. Psi e Is the course error.
The preset time dynamics control law is as follows:
wherein m is ij Representing the elements of the ith row and jth column of the inertia matrix, f r (r) is the hydrodynamic term, k ψ2 To control the parameter, z ψ1 ＝ζ P (t)ψ e Converting the error variable, ζ, for a predetermined time P (t) is a predetermined time function, b is a design parameter, z ψ2 ＝r-α r For the speed tracking error, r is the angular speed of the steering head defined on the coordinate system of the unmanned boat carrier,
is alpha r The first derivative of (a) is,
is the disturbance component d of the disturbance of the external environment on the bow-swing freedom 3 Unknown upper bound of
Robust adaptation ofThe term is estimated.
The robust adaptation law is as follows:
in the formula, λ r And Γ r Control parameters are to be set. Meanwhile, the perturbation upper bound estimation error can be defined as
To achieve the above object, according to another aspect of the present invention, there is provided a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the under-actuated unmanned boat preset performance path tracking control method as described in any one of the preceding items.
To achieve the above object, according to another aspect of the present invention, there is provided an under-actuated unmanned boat preset performance path tracking control system, comprising the computer readable storage medium as described above and a processor for calling and processing a computer program stored in the computer readable storage medium.
Generally, compared with the prior art, the technical scheme of the invention has the following beneficial effects:
1. the method is oriented to the high-precision path tracking operation requirement of the under-actuated unmanned ship, under the action of the virtual speed law, the preset time dynamics control rate and the robust adaptive law, the course error is converged into a bounded set at a preset time by any small error, and the whole tracking error process is within a preset performance limit. On the basis of ensuring the safe navigation of the unmanned ship, the transient performance and the convergence time are considered.
2. The anti-tangent type guidance law designed by the invention does not need to restrict the initial position in the existing preset performance work, and is more convenient and faster to apply to engineering. Meanwhile, due to the simple structure of the algorithm, the designed anti-tangent type guidance law can be expanded to the application of the depth plane.
3. The invention designs an anti-tangential preset performance guidance law on the aspect of kinematics, so that the whole course of course tracking error is within a preset performance limit.
4. The invention converts the original course error through the actual preset time function. Meanwhile, the controller design is developed based on the barrier Lyapunov function and the robust adaptive technology, and the preset time control under the influence of external environment disturbance is realized.
Drawings
Fig. 1 is a block diagram of the unmanned ship path tracking control method in the invention.
FIG. 2 is a diagram of a preset time tracking control that takes into account transient performance constraints
FIG. 3 is a flow chart of switching of an arctangent preset performance guidance algorithm
FIG. 4 is a diagram of the water surface linear tracking effect of the unmanned ship at different initial positions under the action of an arctangent preset performance guidance law.
FIG. 5 is a graph showing the tracking error under the guidance law of the arctangent predetermined performance.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
As shown in fig. 1, the invention preferably relates to an under-actuated unmanned ship preset time path tracking control method considering transient performance, which is a method that an unmanned ship is expected to converge on a desired path within a human preset time and the whole process does not exceed a preset envelope range, and a tracking control schematic diagram is shown in fig. 2. The method comprises the steps that error conversion is completed by combining a preset performance function, a preset time function and a preset performance conversion error function, and a foundation is laid for subsequent controller design; a preset performance line-of-sight guidance law is proposed, wherein the anti-tangent line-of-sight angle guidance law designed in the text is shown in figure 3, at the initial large-error moment, the guidance law is a proportional line-of-sight angle, the tracking error is driven to gradually converge to zero, the error converges to meet a performance switching inequality and then enters a preset performance control stage, and the error is strictly in constraint. The method absorbs the essence of the traditional line of sight angle, has simple structure, does not need to introduce a self-adaptive item, and does not need to make initial condition hypothesis; then, a preset performance virtual speed law is obtained through design; and finally, designing a preset time dynamics control law based on a robust adaptive technology to complete accurate path tracking control. The specific implementation process is as follows:
the horizontal plane three-degree-of-freedom motion equation of the under-actuated unmanned ship is as follows:
wherein x, y and ψ are a position coordinate and a heading angle defined on a geodetic coordinate system, respectively; u, v and r are respectively the forward, lateral and yaw rates defined in the unmanned boat carrier coordinate system. m is ij Representing the elements of the ith row and jth column of the inertia matrix, f u (u)、f v (v) And f r (r) is a hydrodynamic term, d 1 (t)、d 2 (t) and d 3 (t) is the disturbance component to which the degree of each is subjected, τ 1 And τ 3 Respectively control inputs for forward and yaw degrees of freedom.
In order to realize accurate tracking of the path, firstly, the error conversion is completed by combining a preset performance function, a preset time function and a preset performance conversion error function, and the specific form is as follows:
the preset performance function is as follows:
ρ＝(ρ 0 -ρ ∞ )e -κt +ρ ∞
where ρ is 0 To stipulateInitial margin of error of ρ ∞ For the maximum allowable static deviation during the steady state, κ is the normal number to be set, and its value determines the convergence rate.
The preset time function is as follows:
where e is a natural constant, T is a convergence time preset by a control engineer, and σ >0 and b > ε >0 are design parameters. The choice of σ determines the rate of system error convergence, while ε determines the final tracking accuracy.
The predetermined performance transfer error function is defined as:
wherein, y e The lateral deviation of the actual position of the unmanned ship from the expected path; p (y) e ) Is a variable switched with error and is defined as
e l And e u The error bound, which is a time-varying attenuation, can be expressed as
In the formula delta l And delta u Is the parameter to be selected.
In order to realize the constraint on the transient performance of the unmanned ship, a simple preset performance guidance law is designed on the aspect of kinematics, and the guidance law is used for tracking the preset performance guidance law for an anti-tangent path.
The arctangent preset performance line guidance law is as follows:
wherein, γ d In order to be the tangential angle of the path,
for sideslip angle, u and v are the forward and lateral velocities defined in the unmanned boat vehicle coordinate system, k los The parameter to be selected is positive. The switching inequality is defined as follows
Wherein sigma epsilon (0, 1) is a condition parameter selected by a control engineer,
the horizontal plane resultant velocity. When the two inequalities are satisfied simultaneously, the guidance law is switched. The first is a performance inequality intended to ensure that control can achieve a preset performance goal. The second inequality is an initial condition judgment inequality, and aims to avoid the situation that the initial time after switching violates the preset performance limit.
Further, the preset performance virtual speed law is designed as follows:
wherein k is ψ1 To control the parameter, ζ P In order to be a non-linear transfer function,
is its first derivative,/, of e Is the course error.
Further, the preset time dynamics control law is designed as follows:
wherein m is ij Representing the elements of the ith row and jth column of the inertia matrix, f r (r) is the hydrodynamic term, k ψ2 To control the parameter, z ψ1 ＝ζ P (t)ψ e Converting the error variable, ζ, for a predetermined time P (t) is a predetermined time function, b is a design parameter, z ψ2 ＝r-α r For speed tracking error, r is the angular speed of the rotating bow defined on the coordinate system of the unmanned boat carrier,
is alpha r The first derivative of (a) is,
is the disturbance component d of the disturbance of the external environment on the bow-swing freedom 3 Unknown upper bound of
The robust adaptive estimation term of (1).
Finally, the robust adaptation law is designed as follows:
in the formula of lambda r And Γ r Control parameters are to be set. Meanwhile, the perturbation upper bound estimation error can be defined as
The implementation case is as follows:
in order to verify the effect of the arc tangent control method, the following simulation test is carried out by taking a certain unmanned boat as a simulation object: in order to fully check the effectiveness of the designed arc tangent algorithm, the unmanned ship starts from three different initial positions in the simulation, wherein the position is 1: [ -2m, -4m,10 ° ]] T Position 2: [ -2m,3m,10 °] T And position 3: [ -2m,8m,10 °] T 。
Simulation results are shown in fig. 4-5, and fig. 4 is a graph of the water surface linear tracking effect of the unmanned ship at different initial positions under the action of the arctangent preset performance guidance law. FIG. 5 is a graph showing the tracking error under the guidance law of the arctangent predetermined performance. The guidance law switching times in the three cases were 2.2 seconds, 0 second, and 5.9 seconds, respectively. It can be seen that although the unmanned surface vehicle starts from different initial conditions, the switching conditions are met with the time, and the tracking error after switching is always within the preset performance error limit.
It will be understood by those skilled in the art that the foregoing is only an exemplary embodiment of the present invention, and is not intended to limit the invention to the particular forms disclosed, since various modifications, substitutions and improvements within the spirit and scope of the invention are possible and within the scope of the appended claims.
Claims (8)
1. A preset performance path tracking control method for an under-actuated unmanned ship is characterized by comprising the following steps:
firstly, combining a preset performance function, a preset time function and a preset performance conversion error function to complete error conversion, and laying a foundation for subsequent controller design;
then, designing an anti-tangent type path tracking preset performance sight guidance law available for engineering practice;
then, a preset performance virtual speed law is obtained through design;
and finally, designing a preset time dynamics control law based on a robust adaptive technology to complete accurate path tracking control.
2. The under-actuated unmanned ship preset performance path tracking control method according to claim 1, wherein the error conversion is completed by combining a preset performance function, a preset time function and a preset performance conversion error function, so as to lay a foundation for subsequent controller design;
the preset performance function is as follows:
ρ＝(ρ 0 -ρ ∞ )e -κt +ρ ∞
wherein ρ 0 For a specified initial errorMargin of difference, p ∞ For the maximum allowable static deviation during the steady state, κ is the normal number to be set, and its value determines the convergence rate.
The preset time function is as follows:
where e is a natural constant, T is a convergence time preset by a control engineer, and σ >0 and b > ε >0 are design parameters. The selection of sigma determines the convergence rate of system errors, and epsilon determines the final tracking precision.
The predetermined performance transfer error function is defined as:
wherein, y e The lateral deviation of the actual position of the unmanned ship from the expected path; p (y) e ) Is a variable switched with error and is defined as
e l And e u The error bound, which is a time-varying attenuation, can be expressed as
In the formula delta l And delta u Is the parameter to be selected.
3. The under-actuated unmanned surface vehicle preset performance path tracking control method as claimed in claim 1, wherein the designed anti-tangential path tracking preset performance sight-line guidance law is as follows:
wherein, γ d In order to be the tangential angle of the path,
for sideslip angle, u and v are the forward and lateral velocities defined in the unmanned boat vehicle coordinate system, k los For positive determination of the parameter to be selected, the switching inequality is defined as follows
Wherein sigma epsilon (0, 1) is a condition parameter selected by a control engineer,
the horizontal plane resultant velocity. When the two inequalities are satisfied simultaneously, the guidance law is switched. The first inequality is a performance inequality intended to ensure that control can achieve a preset performance target. The second inequality is an initial condition judgment inequality, and aims to avoid the situation that the initial time after switching violates the preset performance limit. The anti-tangent type path tracking preset performance sight line guidance law does not need to restrict the initial position as in the existing preset performance work, and the algorithm is simple in structure and more convenient for engineering application.
4. The method for tracking and controlling the preset performance path of the under-actuated unmanned ship according to claim 1, wherein the designed virtual speed law of the preset performance is as follows:
wherein k is ψ1 To control the parameter, ζ P In order to be a non-linear transfer function,
is its first derivative,. Psi e Is the heading error.
5. The method for tracking and controlling the preset performance path of the under-actuated unmanned ship according to claim 1, wherein the preset time dynamics control law is as follows:
wherein m is ij Representing the elements of the ith row and jth column of the inertia matrix, f r (r) is the hydrodynamic term, k ψ2 To control the parameter, z ψ1 ＝ζ P (t)ψ e Converting the error variable, ζ, for a predetermined time P (t) is a predetermined time function, b is a design parameter, z ψ2 ＝r-α r For speed tracking error, r is the angular speed of the rotating bow defined on the coordinate system of the unmanned boat carrier,
is alpha r The first derivative of (a) is,
is the disturbance component d of the disturbance of the external environment on the bow-swing freedom degree 3 Unknown upper bound of
The robust adaptive estimation term of (1).
6. The under-actuated unmanned ship preset performance path tracking control method as claimed in claim 1, wherein the designed robust adaptation law is as follows:
in the formula of lambda r And gamma r Control parameters are to be set. Meanwhile, the perturbation upper bound estimation error can be defined as
7. A computer-readable storage medium, characterized in that a computer program is stored thereon, which when executed by a processor, implements the under-actuated unmanned surface vehicle preset performance path tracking control method according to any one of claims 1 to 6.
8. An under-actuated unmanned surface vehicle default performance path tracking control system comprising the computer storage medium of claim 7 and a processor for invoking and processing a computer program stored in the computer readable medium.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211035618.2A CN115167481A (en) | 2022-08-27 | 2022-08-27 | Under-actuated unmanned ship preset performance path tracking control method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211035618.2A CN115167481A (en) | 2022-08-27 | 2022-08-27 | Under-actuated unmanned ship preset performance path tracking control method and system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115167481A true CN115167481A (en) | 2022-10-11 |
Family
ID=83480587
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211035618.2A Pending CN115167481A (en) | 2022-08-27 | 2022-08-27 | Under-actuated unmanned ship preset performance path tracking control method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115167481A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115617044A (en) * | 2022-10-28 | 2023-01-17 | 华中科技大学 | Non-singular finite time unmanned ship preset performance dynamic positioning control method and system |
| CN116400691A (en) * | 2023-03-29 | 2023-07-07 | 大连海事大学 | Novel discrete time specified performance reinforcement learning unmanned ship course tracking control method and system |
| CN117452827A (en) * | 2023-12-20 | 2024-01-26 | 广东海洋大学 | Under-actuated unmanned ship track tracking control method |
-
2022
- 2022-08-27 CN CN202211035618.2A patent/CN115167481A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115617044A (en) * | 2022-10-28 | 2023-01-17 | 华中科技大学 | Non-singular finite time unmanned ship preset performance dynamic positioning control method and system |
| CN116400691A (en) * | 2023-03-29 | 2023-07-07 | 大连海事大学 | Novel discrete time specified performance reinforcement learning unmanned ship course tracking control method and system |
| CN116400691B (en) * | 2023-03-29 | 2023-11-21 | 大连海事大学 | Novel discrete time specified performance reinforcement learning unmanned ship course tracking control method and system |
| CN117452827A (en) * | 2023-12-20 | 2024-01-26 | 广东海洋大学 | Under-actuated unmanned ship track tracking control method |
| CN117452827B (en) * | 2023-12-20 | 2024-04-05 | 广东海洋大学 | Under-actuated unmanned ship track tracking control method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Belleter et al. | Observer based path following for underactuated marine vessels in the presence of ocean currents: A global approach | |
| CN115167481A (en) | Under-actuated unmanned ship preset performance path tracking control method and system | |
| CN110716566B (en) | Limited time trajectory tracking control method of under-actuated unmanned ship | |
| CN110308735A (en) | A kind of drive lacking UUV track following sliding-mode control for input delay | |
| CN109189103B (en) | Under-actuated AUV trajectory tracking control method with transient performance constraint | |
| CN108829099A (en) | A kind of drive lacking unmanned boat trace tracking method based on the control of limited Backstepping | |
| CN111650837B (en) | Second-order preset performance fault-tolerant control method for track tracking of surface ship during propeller failure | |
| CN110134012A (en) | A kind of ship path tracking control method for uncertain system | |
| CN108519736A (en) | A kind of USV track followings contragradience sliding-mode control | |
| Qin et al. | Disturbance-observer-based prescribed performance fault-tolerant trajectory tracking control for ocean bottom flying node | |
| CN115113524B (en) | ASV multiport event trigger path tracking control method based on intervention LVS guidance | |
| CN114047773A (en) | Underwater ore collection robot backstepping sliding mode self-adaptive attitude control method based on extended state observer | |
| CN115268260A (en) | Unmanned ship preset time trajectory tracking control method and system considering transient performance | |
| CN110515387A (en) | A kind of above water craft drift angle compensating non-linear course heading control method | |
| Raimondi et al. | Hierarchical fuzzy/lyapunov control for horizontal plane trajectory tracking of underactuated AUV | |
| Gao et al. | Disturbance observer based finite-time exact bottom-following control for a BUV with input saturation | |
| Liu et al. | Hierarchical robust path following control of fully submerged hydrofoil vessels | |
| Liu et al. | A sphere region tracking control scheme for underwater vehicles | |
| CN115309058B (en) | Finite time composite learning control method for power positioning ship | |
| Ding et al. | Based on disturbance observer of Air Cushion Vehicle course sliding backstepping control | |
| CN114740859A (en) | Automatic ship hovering method and system | |
| CN116719229B (en) | Potential function-based collision prevention fault tolerance control method for dynamic positioning ship | |
| Li et al. | Underactuated Autonomous Underwater Vehicle Trajectory Tracking Control in Three Dimensions Based on Fractional Order Sliding Mode | |
| CN117369473A (en) | FPC-based power positioning ship track tracking control method | |
| Guo et al. | PELOS-based path following control for autonomous underwater vehicle with input saturation and dead-zone |
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 |