CN116560269A - Unmanned ship control method based on fixed time extended state observer - Google Patents
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Abstract
The invention relates to an unmanned ship control method based on a fixed time extended state observer, which comprises the following steps: step S1: acquiring state information of the unmanned ship and information data of various sensors, and sending the state information and the information data to a control center; step S2, the control center classifies and matches the information data according to the data types to obtain corresponding state information of the unmanned ship; s3, constructing a fixed time extended state observer, accurately estimating disturbance and uncertainty items, compensating a controller, and simultaneously obtaining an estimated value of an unmanned ship auxiliary speed variable; step S4: designating an expected track, and making a difference with the actual position in the state information to obtain a position error; s5, obtaining expected control input of the unmanned ship through a controller; step 6, packaging and checking the control input, and sending the control input to a main control of the unmanned ship; and S7, the main control controls the unmanned ship to execute the control command to complete the track tracking task. The invention realizes that the unmanned ship accurately and stably tracks the expected track.
Description
Technical Field
The invention belongs to the technical field of unmanned ship track tracking control, and particularly relates to an unmanned ship control method based on a fixed-time extended state observer.
Background
With the rapid development of economy and society, there is an increasing demand for ocean resources. Meanwhile, the progress of science and technology provides more development means for exploring the ocean and utilizing ocean resources. In many marine applications, unmanned ships play an important role, and the main reason is that the unmanned ships have the characteristics of strong maneuverability, low cost, autonomous navigation, multiple modules, high concealment, and the like, and can realize the functions of reconnaissance monitoring, rescue searching, information collecting, and the like, and the basic core for realizing the functions is the motion control of the unmanned ships, wherein the track tracking control of the unmanned ships is always a hotspot problem of the motion control. However, due to the factors of the unmanned ship itself and the complexity and unknowns of the actual sea conditions, control thereof faces a series of challenges. Unlike unmanned vehicles, unmanned vehicle control systems are different in that, because unmanned ships navigate on the sea, the influence of wind, waves, currents and other environmental disturbances on the unmanned ships is huge, equipment can be caused to malfunction, and even an unmanned ship movement system is unstable. How to resist external disturbances is a matter of concern when designing unmanned ship motion control algorithms. Therefore, in the fields of ocean engineering and control engineering, the unmanned ship track tracking control problem is paid attention to by a large number of researchers.
Disclosure of Invention
In view of the above, an object of the present invention is to provide a method for controlling an unmanned ship based on a fixed time extended state observer, which aims to solve the above problems.
In order to achieve the above purpose, the invention adopts the following technical scheme:
an unmanned ship control method based on a fixed time extended state observer comprises the following steps:
step S1: acquiring state information of the unmanned ship and information data of various sensors, and sending the state information and the information data to a control center;
step S2, the control center classifies and matches the information data according to the data types to obtain corresponding state information of the unmanned ship;
step S3: based on disturbance and dynamics unmodeled items in the marine environment and problems of actuator faults and unknown speed, constructing a fixed-time extended state observer, accurately estimating the disturbance and uncertainty items, compensating a controller, and simultaneously obtaining an estimated value of an unmanned ship auxiliary speed variable;
step S4: designating an expected track, and making a difference with the actual position in the state information to obtain a position error;
step S5: transmitting the speed and total interference estimated value, the position error and the expected track to a fixed time track output and feeding back to a controller, and obtaining the expected control input of the unmanned ship through the controller;
step S6: packaging and checking the control input, and sending the control input to a main control of the unmanned ship;
step S7: and the main control controls the unmanned ship to execute the control command to complete the track tracking task.
Further, the communication between the unmanned ship and the control center is realized based on a TCP/IP protocol; the unmanned ship main control establishes a TCP server, and can establish connection with one or more TCP clients and read and write data; and the control center is required to be provided with a TCP c1 side, and connection is established with the unmanned ship main control.
Further, after the control center obtains the status information of the unmanned ship, the data returned by the unmanned ship is checked, the check standard is that whether the returned data accords with the CRC16 is judged, if the check fails, the return data is wrong, the request is required to be sent again, and the new data is required to be checked again.
Further, the step S3 specifically includes:
step S31: constructing a mathematical model of the unmanned ship;
step S32: based on the unmanned ship mathematical model, the disturbance and dynamics unmodeled terms in the marine environment and the problems of actuator faults and unknown speed are considered, and the fixed-time extended state observer is constructed.
Further, the unmanned ship mathematical model is constructed as follows:
unmanned ship motion control problems generally consider the case of unmanned ship motion in a plane, and utilize an inertial coordinate system (O n x n y n ) Andappendage coordinate system (O) b x b y b ) Establishing a mathematical model of the unmanned ship;
according to the motion characteristics of the full-drive unmanned ship system, a dynamics and kinematics equation is established, and the three-degree-of-freedom model expression is as follows:
wherein ,the position vector of the unmanned ship under an inertial coordinate system is (x, y) the actual position of the unmanned ship, and ψ is the heading angle of the unmanned ship; />The speed vector of the unmanned ship under the attached body coordinate system is u is the advancing speed, v is the transverse drifting speed, and r is the bow-cranking angular speed; /> Control vector τ for control input of ship propeller 1 For advancing force τ 2 Is the transverse floating force, τ 3 Is a bow moment; />D, the unmanned ship is subjected to external interference caused by wind, wave and the like under an attached body coordinate system 1 Is the transverse interference force d 2 For longitudinal disturbance force d 3 Is the heading disturbance moment;for unmatched stems generated by ocean currentsScrambling; m is a matrix formed by unmanned ship weight inertia and hydrodynamic force added inertia; j (psi) is a coordinate system conversion matrix; c (v) is a Coriolis-centripetal matrix; d (v) is a hydrodynamic damping parameter matrix; the expressions M, J (ψ), C (v) and D (v) are respectively:
wherein , d 11 (u)＝-X u -X |u|u |u|，d 22 (v，r)＝-Y v -Y |v|v |v|-Y |r|v |r|，d 23 (v，r)＝-Y r -Y |v|r |v|-Y |r|r |r|，d 32 (v，r)＝-N v -N |v|v |v|-N |r|v |r|，d 33 (v，r)＝-N r -N |v|r |v|-N |r|r r is the same as the standard. m is the mass of the unmanned ship, I z For moment of inertia, x g X (·), Y (·) and N (·) are the hydrodynamic derivatives of the system for the distance of the centre of gravity of the unmanned ship from the origin under the appendage coordinate system;
the transformation matrix J (ψ) has the following properties
J(ψ) T J(ψ)＝I (7)
J(ψ) T R(r)J(ψ)＝R(r) (9)
Wherein R (R) is defined as
Since the coriolis-centripetal matrix C (v), the hydrodynamic damping parameter matrix D (v) and the velocity vector v are unknown; in addition, considering the influence of the actuator fault on the unmanned ship control system, the control moment influenced by the actuator fault is expressed as
wherein τi (i=1, 2, 3) is the actual control amount of the marine propulsion control input; τ ni A desired control input for the design; e, e ii A health state index for the ith actuator ranging from 0 to 1;is an unknown error input quantity; b i (t-t 0i ) Is a time index.
Further, the time index is specifically
In the formula (12), a i Expressed as the degree of failure of the actuator over time, t 0i Represented as the time at which the fault occurred. If the actuator fails seriously, i.e. a i Larger value b i (t-t 0i ) In the form of a step function; also, when a i The value is small, and the actuator is damaged slowly, namely the slow-change fault occurs.
Further, the fixed time extended state observer is constructed as follows:
an auxiliary speed variable w is introduced and is defined as follows
w＝J(ψ)v+v r (13)
Then, equation (1) is converted into
Where χ is the unknown sum of the disturbances,is the desired trajectory.A desired control input for the design;
subsequently defining a position error and a velocity error
η e ＝η-η d (17)
w e ＝w-w d (18)
wherein ,is a desired velocity vector;
next, deriving the formula (17) and the formula (18):
for the design of the observer, the sum of the unknown speed and all uncertainty items can be effectively estimated, and the flow is as follows
wherein Is an estimate of the unmanned ship position eta +.>Is an estimate of the unmanned ship's auxiliary speed w, < >>Is the estimated value of χ, χ is the sum of uncertainty terms of the unmanned ship, and the expression is
χ＝Γ+Δ+E+Z (22)
Wherein Γ is the non-matching interference caused by ocean currents
Delta is the matching interference caused by wind and wave in the marine environment
Δ＝J(ψ)M -1 d (24)
E is the uncertainty term of the unmodeled part of the unmanned ship dynamics
E＝J(ψ)R(r)v-J(ψ)M -1 C(v)-J(ψ)M -1 D(v) (25)
Z is an uncertainty term caused by an execution failure
Wherein B (t-t) 0 )＝diag(b(t-t 01 )，b(t-t 02 )，b(t-t 03 ))，E＝diag(e 11 ，e 22 ，e 33 )，τ n ＝[τ n1 ，τ n2 ，τ n3 ] T ，
By selecting appropriate parameters, the fixed time extended state observer is consistent fixed time stable;
considering that the speed of the unmanned ship is unknown, and that there is also kinetic unmodeled uncertainty, unknown disturbance and actuator failure, an auxiliary speed estimate by means of a fixed time extended state observer is requiredSum estimate of uncertainty term +.>And feedback is carried out in the design of the following controller, so that the stable operation of the unmanned ship is realized; finally, the control law is designed as follows
wherein Kη ＝diag(K η1 ，K η2 ，K η3 )，K w ＝diag(K w1 ，K w2 ，K w3 ) Are all control gain matrices, while α 1 E (0, 1); whileFor assisting the speed estimation error, it is defined as +.>
Further, the appropriate parameters are selected as follows:
(1)λ 3 ＝1.1L w 。
(2) Delta > 0 should be chosen small enough whileThe Hulvitz matrix should be selected as follows
(3) wherein Tu Is a positive number.
Compared with the prior art, the invention has the following beneficial effects:
the invention estimates and compensates the unknown quantity through the design of the extended state observer, and introduces a fixed time control method for improving the performance of the control system at the same time, thereby realizing the precise and stable tracking of the expected track of the unmanned ship.
Drawings
FIG. 1 illustrates unmanned ship motion in inertial and appendage coordinate systems in accordance with one embodiment of the present invention;
FIG. 2 is a flow chart of a method according to an embodiment of the invention;
FIG. 3 illustrates a circular track tracking effect of an unmanned ship in an inertial coordinate system according to an embodiment of the present invention;
FIG. 4 is a graph showing the position error of a circular track according to an embodiment of the present invention;
FIG. 5 is an illustration of actual tracking speed of an unmanned ship in accordance with an embodiment of the present invention;
FIG. 6 is a schematic diagram of an actual control input of a circular trace in an embodiment of the present invention;
fig. 7 is a graph showing the total uncertainty term and its observations in a system, χ is the sum of the uncertainty terms for an actual unmanned ship,for its observations;
fig. 8 shows actual values and observed values of the unmanned ship auxiliary speed variable, w is the actual value,is an observed value;
fig. 9 is a flowchart of an actual application of the unmanned ship algorithm in an embodiment of the present invention.
Detailed Description
The invention will be further described with reference to the accompanying drawings and examples.
Referring to fig. 2, the present invention provides an unmanned ship control method based on a fixed time extended state observer, which comprises the following steps:
step 1, sending an instruction to request communication, and requesting to obtain various state information of the unmanned ship;
step 2, the master control collects information of various sensors, and packages the information according to a specified format after verification;
step 3, the packaged file is sent to a control center through a TCP/IP protocol;
step 4, the control center receives the file, verifies and unpacks the file according to the format, and classifies and matches the data according to the data type to obtain the corresponding state information of the unmanned ship;
step 5, constructing a fixed time extended state observer, accurately estimating disturbance and uncertainty items and compensating a controller in the face of disturbance and dynamics unmodeled items in the marine environment, actuator faults, unknown speed and other problems, and simultaneously obtaining an estimated value of an unmanned ship auxiliary speed variable;
step 6, appointing an expected track, and making a difference with the actual position in the state information to obtain a position error;
step 7, next, sending the speed and total interference estimated value, the position error and the expected track to a fixed time track output feedback controller, and obtaining the expected control input of the unmanned ship through an algorithm;
and 8, sending the tidied data packets to the unmanned ship master control according to the communication protocol. And the unmanned ship main control processes the data according to the flow of verification, unpacking and matching to obtain the expected control input. And send it to the underlying controller
And 9, regulating the duty ratio by the bottom layer controller through PWM waves, and controlling an actuator of the unmanned ship, so that expected control input is realized, and the aim of track tracking is fulfilled.
In this embodiment, communication between the unmanned ship and the control center is realized based on a TCP/IP protocol, so that the unmanned ship master control needs to establish a TCP server, and can establish a connection with one or more TCP clients and read and write data. And the control center needs to establish a TCP client to establish connection with the controller.
In this embodiment, the control center sends a request instruction to acquire unmanned ship status information. After the unmanned ship state information is obtained, the data returned by the unmanned ship is checked, the check standard is to judge whether the returned data accords with CRC16, if the check fails, the returned data is wrong, a request is required to be sent again, and the new data is required to be checked again. Meanwhile, the data needs to be unpacked, and the TCP/IP can only send and receive the data of uint8_t, so that the data needs to be unpacked (Unpack) after the data is returned and are restored into double, float, int and other types. The unpacking and packing procedures are based on IEEE754. And then, matching the unpacked data to obtain longitude and latitude information of the unmanned ship, and converting the longitude and latitude into UTM coordinates by using a conversion tool (Universal Transverse Mercator).
In this embodiment, a mathematical model of the unmanned ship is constructed, specifically as follows:
the problem of unmanned ship motion control generally considers the situation of unmanned ship motion in a plane and utilizes an inertial coordinate system(O n x n y n ) And an appendage coordinate system (O b x b y b ) Establishing a mathematical model of the unmanned ship;
according to the motion characteristics of the full-drive unmanned ship system, a dynamics and kinematics equation is established, and the three-degree-of-freedom model expression is as follows:
wherein ,the position vector of the unmanned ship under an inertial coordinate system is (x, y) the actual position of the unmanned ship, and ψ is the heading angle of the unmanned ship; />The speed vector of the unmanned ship under the attached body coordinate system is u is the advancing speed, v is the transverse drifting speed, and r is the bow-cranking angular speed; /> Control vector τ for control input of ship propeller 1 For advancing force τ 2 Is the transverse floating force, τ 3 Is a bow moment; />D, the unmanned ship is subjected to external interference caused by wind, wave and the like under an attached body coordinate system 1 Is the transverse interference force d 2 For longitudinal disturbance force d 3 Is the heading disturbance moment;is the mismatch disturbance generated by ocean currents; m is a matrix formed by unmanned ship weight inertia and hydrodynamic force added inertia; j (psi) is a coordinate system conversion matrix; c (v) is a Coriolis-centripetal matrix; d (v) is a hydrodynamic damping parameter matrix; the expressions M, J (ψ), C (v) and D (v) are respectively:
wherein , d 11 (u)＝-X u -X |u|u |u|，d 22 (v，r)＝-Y v -Y |v|v |v|-Y |r|v |r|，d 23 (v，r)＝-Y r -Y |v|r |v|-Y |r|r |r|，d 32 (v，r)＝-N v -N |v|v |v|-N |r|v |r|，d 33 (v，r)＝-N r -N |v|r |v|-N |r|r r is the same as the standard. m is the mass of the unmanned ship, I z For moment of inertia, x g X (·), Y (·) and N (·) are the hydrodynamic derivatives of the system for the distance of the centre of gravity of the unmanned ship from the origin under the appendage coordinate system;
in this example, specific parameters are shown in Table 2.
TABLE 2 unmanned ship detailed parameters
The transformation matrix J (ψ) has the following properties
J(ψ) T J(ψ)＝I (7)
J(ψ) T R(r)J(ψ)＝R(r) (9)
Wherein R (R) is defined as
Since the coriolis-centripetal matrix C (v), the hydrodynamic damping parameter matrix D (v) and the velocity vector v are unknown; in addition, considering the influence of the actuator fault on the unmanned ship control system, the control moment influenced by the actuator fault is expressed as
wherein τi (i=1, 2, 3) is the actual control amount of the marine propulsion control input; τ ni A desired control input for the design; e, e ii A state of health index for the ith actuator ranging from 0 to l;is an unknown error input quantity; b i (t-t 0i ) Is a time index.
In the present embodiment, the time index is specifically
In the formula (12), a i Expressed as the degree of failure of the actuator over time, t 0i Represented as the time at which the fault occurred. If the actuator fails seriously, i.e. a i Larger value b i (t-t 0i ) In the form of a step function; also, when a i The value is small, and the actuator is damaged slowly, namely the slow-change fault occurs.
In this embodiment, the fixed time extended state observer is constructed as follows:
an auxiliary speed variable w is introduced and is defined as follows
w＝J(ψ)v+v r (13)
Then, equation (1) is converted into
Where χ is the unknown sum of the disturbances,in order to make the track of the object desired,a desired control input for the design;
subsequently defining a position error and a velocity error
η e ＝η-η d (17)
w e ＝w-w d (18)
wherein ,is a desired velocity vector;
next, deriving the formula (17) and the formula (18):
for the design of the observer, the sum of the unknown speed and all uncertainty items can be effectively estimated, and the flow is as follows
wherein Is an estimate of the unmanned ship position eta +.>Is an estimate of the unmanned ship assist speed w. />Is the estimated value of χ, χ is the sum of uncertainty terms of the unmanned ship, and the expression is
χ＝Γ+Δ+E+Z (22)
Wherein Γ is the non-matching interference caused by ocean currents
Delta is the matching interference caused by wind and wave in the marine environment
Δ＝J(ψ)M -1 d (24)
E is the uncertainty term of the unmodeled part of the unmanned ship dynamics
E＝J(ψ)R(r)v-J(ψ)M -1 C(v)-J(ψ)M -1 D(v) (25)
Z is an uncertainty term caused by an execution failure
Wherein B (t-t) 0 )＝diag(b(t-t 01 )，b(t-t 02 )，b(t-t 03 ))，E＝diag(e 11 ，e 22 ，e 33 )，τ n ＝[τ n1 ，τ n2 ，τ n3 ] T ，
By selecting appropriate parameters, the fixed time extended state observer is consistent fixed time stable;
considering that the speed of the unmanned ship is unknown, and that there is also kinetic unmodeled uncertainty, unknown disturbance and actuator failure, an auxiliary speed estimate by means of a fixed time extended state observer is requiredSum estimate of uncertainty term +.>And feedback is carried out in the design of the following controller, so that the stable operation of the unmanned ship is realized; finally, the control law is designed as follows
wherein Kη ＝diag(K η1 ，K η2 ，K η3 )，K w ＝diag(K w1 ，K w2 ，K w3 ) Are all control gain matrices, while α 1 E (0, 1); whileFor assisting the speed estimation error, it is defined as +.>
In this embodiment, suitable parameters are selected as follows:
(1)λ 3 ＝1.1L w 。
(2) Delta > 0 should be chosen small enough whileThe Hulvitz matrix should be selected as follows
(3) wherein Tu Is a positive number.
The foregoing description is only of the preferred embodiments of the invention, and all changes and modifications that come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Claims (8)
1. An unmanned ship control method based on a fixed time extended state observer is characterized by comprising the following steps:
step S1: acquiring state information of the unmanned ship and information data of various sensors, and sending the state information and the information data to a control center;
step S2, the control center classifies and matches the information data according to the data types to obtain corresponding state information of the unmanned ship;
s3, constructing a fixed time extended state observer based on disturbance and dynamics unmodeled items in the marine environment and the problems of actuator faults and unknown speed, accurately estimating the disturbance and uncertainty items and compensating a controller, and simultaneously obtaining an estimated value of an unmanned ship auxiliary speed variable;
step S4: designating an expected track, and making a difference with the actual position in the state information to obtain a position error;
s5, sending the speed and total interference estimated value, the position error and the expected track to a fixed time track output and feeding back to a controller, and obtaining the expected control input of the unmanned ship through the controller;
step 6, packaging and checking the control input, and sending the control input to a main control of the unmanned ship;
and S7, the main control controls the unmanned ship to execute the control command to complete the track tracking task.
2. The unmanned ship control method based on the fixed time extended state observer according to claim 1, wherein the communication between the unmanned ship and the control center is realized based on the TCP/IP protocol; the unmanned ship main control establishes a TCP server, and can establish connection with one or more TCP clients and read and write data; and the control center is required to be provided with a TCP client, and connection is established with the unmanned ship main control.
3. The unmanned ship control method based on the fixed time extended state observer according to claim 1, wherein after the control center acquires the unmanned ship state information, the control center checks the data returned by the unmanned ship, the check standard is that whether the returned data accords with CRC16 is judged, if the check fails, the return data is wrong, a request needs to be sent again, and the return of new data needs to be checked again.
4. The unmanned ship control method based on the fixed time extended state observer according to claim 1, wherein the step S3 is specifically:
s31, constructing a mathematical model of the unmanned ship;
and S32, based on the mathematical model of the unmanned ship, constructing a fixed-time extended state observer by considering disturbance and dynamics unmodeled items in the marine environment and problems of actuator faults and unknown speed.
5. The unmanned ship control method based on the fixed time extended state observer according to claim 4, wherein the constructing of the unmanned ship mathematical model is specifically as follows:
unmanned ship motion control problems generally consider the case of unmanned ship motion in a plane, and utilize an inertial coordinate system (O n x n y n ) And an appendage coordinate system (O b x b y b ) Establishing a mathematical model of the unmanned ship;
according to the motion characteristics of the full-drive unmanned ship system, a dynamics and kinematics equation is established, and the three-degree-of-freedom model expression is as follows:
wherein ,is unmannedThe position vector of the ship under the inertial coordinate system, (x, y) is the actual position of the unmanned ship, and psi is the heading angle of the unmanned ship; />The speed vector of the unmanned ship under the attached body coordinate system is u is the advancing speed, v is the transverse drifting speed, and r is the bow-cranking angular speed; /> Control vector τ for control input of ship propeller 1 For advancing force τ 2 Is the transverse floating force, τ 3 Is a bow moment; />D, the unmanned ship is subjected to external interference caused by wind, wave and the like under an attached body coordinate system 1 Is the transverse interference force d 2 For longitudinal disturbance force d 3 Is the heading disturbance moment;is the mismatch disturbance generated by ocean currents; m is a matrix formed by unmanned ship weight inertia and hydrodynamic force added inertia; j (psi) is a coordinate system conversion matrix; c (v) is a Coriolis-centripetal matrix; d (v) is a hydrodynamic damping parameter matrix; the expressions M, J (ψ), C (v) and D (v) are respectively:
wherein , d 11 (u)＝-X u -X |u|u |u|，d 22 (v,r)＝-Y v -Y |v|v |v|-Y |r|v |r|，d 23 (v,r)＝-Y r -Y |v|r |v|-Y |r|r |r|，d 32 (v,r)＝-N v -N |v|v |v|-N |r|v |r|，d 33 (v,r)＝-N r -N |v|r |v|-N |r|r r is the same as the standard. m is the mass of the unmanned ship, I z For moment of inertia, x g X (·), Y (·) and N (·) are the hydrodynamic derivatives of the system for the distance of the centre of gravity of the unmanned ship from the origin under the appendage coordinate system;
the transformation matrix J (ψ) has the following properties
J(ψ) T J(ψ)＝I (7)
J(ψ) T R(r)J(ψ)＝R(r) (9)
Wherein R (R) is defined as
Firstly, the Coriolis-centripetal matrix C (v), the hydrodynamic damping parameter matrix D (v) and the velocity vector v are unknown; in addition, considering the influence of the actuator fault on the unmanned ship control system, the control moment influenced by the actuator fault is expressed as
wherein τi (i=1, 2, 3) is the actual control amount of the marine propulsion control input; τ ni A desired control input for the design; e, e ii A health state index for the ith actuator ranging from 0 to 1;is an unknown error input quantity; b i (t-t 0i ) Is a time index.
6. Unmanned ship control method based on a fixed time extended state observer according to claim 4, wherein the time index, in particular
In the formula (12), a i Expressed as the degree of failure of the actuator over time, t 0i Represented as the time at which the fault occurred. If the actuator fails seriously, i.e. a i Larger value b i (t-t 0i ) In the form of a step function; also, when a i The value is small, and the actuator is damaged slowly, namely the slow-change fault occurs.
7. The unmanned ship control method based on the fixed time extended state observer according to claim 5, wherein the fixed time extended state observer is constructed as follows:
an auxiliary speed variable w is introduced and is defined as follows
w＝J(ψ)v+v r (13)
Then, equation (1) is converted into
Where χ is the unknown sum of the disturbances,in order to make the track of the object desired,a desired control input for the design;
subsequently defining a position error and a velocity error
η e ＝η-η d (17)
w e ＝w-w d (18)
wherein ,is a desired velocity vector;
next, deriving the formula (17) and the formula (18):
for the design of the observer, the sum of the unknown speed and all uncertainty items can be effectively estimated, and the flow is as follows
wherein Is an estimate of the unmanned ship position eta +.>Is an estimate of the unmanned ship's auxiliary speed w, < >>Is the estimated value of χ, χ is the sum of uncertainty terms of the unmanned ship, and the expression is
χ＝Γ+Δ+E+Z (22)
Wherein Γ is the non-matching interference caused by ocean currents
Delta is the matching interference caused by wind and wave in the marine environment
Δ＝J(ψ)M -1 d (24)
E is the uncertainty term of the unmodeled part of the unmanned ship dynamics
E＝J(ψ)R(r)v-J(ψ)M -1 C(ν)-J(ψ)M -1 D(ν) (25)
Z is an uncertainty term caused by an execution failure
Wherein B (t-t) 0 )＝diag(b(t-t 01 ),b(t-t 02 ),b(t-t 03 ))，E＝diag(e 11 ,e 22 ,e 33 )，τ n ＝[τ n1 ,τ n2 ,τ n3 ] T ，
By selecting appropriate parameters, the fixed time extended state observer is consistent fixed time stable;
considering that the speed of the unmanned ship is unknown, and that there is also kinetic unmodeled uncertainty, unknown disturbance and actuator failure, an auxiliary speed estimate by means of a fixed time extended state observer is requiredSum estimate of uncertainty term +.>And feedback is carried out in the design of the following controller, so that the stable operation of the unmanned ship is realized; finally, the control law is designed as follows
wherein Kη ＝diag(K η1 ,K η2 ,K η3 )，K w ＝diag(K w1 ,K w2 ,K w3 ) Are all control gain matrices, while α 1 E (0, 1); whileFor assisting the speed estimation error, it is defined as +.>
8. The unmanned ship control method based on the fixed time extended state observer according to claim 7, wherein the suitable parameters are selected as follows:
(1)λ 3 ＝1.1L w 。
(2)δ>0 should be chosen small enough, whileThe Hulvitz matrix should be selected as follows
(3) wherein Tu Is a positive number.
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| CN117742352B (en) * | 2024-02-21 | 2024-05-10 | 陕西欧卡电子智能科技有限公司 | Vector propulsion unmanned ship-based track control method, device, equipment and medium |
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| CN117742352B (en) * | 2024-02-21 | 2024-05-10 | 陕西欧卡电子智能科技有限公司 | Vector propulsion unmanned ship-based track control method, device, equipment and medium |
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