Dynamic compensation type active-disturbance-rejection heading control method of ocean robot
The invention discloses a dynamic compensation type active-disturbance-rejection heading control method of an ocean robot, and relates to the field of robot motion control. The method aims at solving the problems that an existing heading control method cannot guarantee stable heading control perform...
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Format: | Patent |
Sprache: | chi ; eng |
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Zusammenfassung: | The invention discloses a dynamic compensation type active-disturbance-rejection heading control method of an ocean robot, and relates to the field of robot motion control. The method aims at solving the problems that an existing heading control method cannot guarantee stable heading control performance at different navigational speeds, so that the accuracy of navigational bow control is poor, and the solution of navigational bow control parameters is complex. The method comprises the steps that the expected heading angle psid of the ocean robot is input into a tracking differentiator, and a transition process v1 arranged for the psid by the tracking differentiator is obtained; the actual heading angle psi, the control rudder angle delta and the actual navigational speed U of the ocean robot are input into the linear expansion state observer, and a disturbance compensation parameter b, the submerged body heading z1, the steering acceleration z2 and disturbance z3 of a submerged body yawing system are obtained |
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