CN-121995949-A - Obstacle avoidance tracking control method and system for submarine cable laying robot with input saturation

CN121995949ACN 121995949 ACN121995949 ACN 121995949ACN-121995949-A

Abstract

The invention discloses an obstacle avoidance tracking control method and system for a robot with an input saturated submarine cable. The method comprises the steps of constructing a robot kinematics and dynamics model, calculating tracking errors based on a reference track and a real-time position, ensuring error transient state and steady state performance through a performance constraint function, designing an obstacle avoidance signal based on an artificial potential field method, designing a virtual control law by combining the performance constraint signal, speed information and the obstacle avoidance signal, designing a fuzzy self-adaptive law to estimate and compensate unknown disturbance and uncertainty of a system, and finally constructing a final saturated control input by introducing a saturated auxiliary system to limit the amplitude of an actuator and reduce loss. The invention can effectively process input saturation, external disturbance and model uncertainty, and realize high-precision and strong-robustness obstacle avoidance track tracking control.

Inventors

LI YONGMING
YAO XIAOLONG
FENG KELIN
LI KEWEN
WANG YU
FAN YAZHOU
WANG ZHENG
BAI XUEJIAN

Assignees

辽宁工业大学

Dates

Publication Date: 20260508
Application Date: 20260114

Claims (9)

1. The obstacle avoidance tracking control method of the submarine cable laying robot with input saturation is characterized by comprising the following steps of: Step 1, constructing a motion model of a submarine cable laying robot; step 2, calculating a position tracking error and a heading tracking error based on the motion model, a given reference track and real-time position information of the submarine cable robot, and introducing a performance constraint function to carry out constraint processing on the position tracking error and the heading tracking error to obtain a performance constraint signal; Step 3, designing a virtual controller based on the performance constraint signal, real-time speed information of the submarine cable laying robot and an obstacle avoidance signal designed for avoiding obstacles, wherein the virtual controller outputs virtual control signals including a longitudinal speed virtual control signal and an angular speed virtual control signal; step 4, designing parameter self-adaptive rules based on the virtual control signals, the obstacle avoidance signals and real-time speed information of the submarine cable robot, wherein the parameter self-adaptive rules are used for estimating unknown disturbance and uncertain items in the system and comprise longitudinal speed self-adaptive rules and angular speed self-adaptive rules; And 5, designing a saturation control input finally acting on the submarine cable laying robot based on the virtual control signal, the parameter self-adaptive law and the obstacle avoidance signal and combining a saturation auxiliary system designed for restraining the input amplitude of the actuator.
2. The method of claim 1, wherein step 1 comprises the following steps: the input signal of the submarine cable laying robot is an input signal And path parameters The output signal is the position information of the submarine cable laying robot And speed information ; The motion model of the submarine cable robot is described by the following differential equation set: (1) Wherein, the Is the position-deflection angle vector of the submarine cabling robot, Representing the two-dimensional coordinate position of the subsea cabling robot, Respectively the horizontal and the vertical coordinates of the two, In order for the deflection angle to be the same, Representing a differential sign; Representing a velocity vector in a coordinate system of the submarine cable robot, wherein Which is indicative of the longitudinal velocity, Represents angular velocity; Wherein And The control inputs of the longitudinal direction and the rotation direction of the submarine cable laying robot are respectively, And Is a control input with a saturation limit, Is a saturation function; Wherein , And Respectively representing the resistance of the left and right tracks; Indicating the suspension rope force to which the robot is subjected, Representing an included angle formed by a robot suspension rope and a movement direction; representing the component of the reaction force of the nozzle to the robot in the movement direction of the robot, wherein the included angle between the nozzle and the spray arm is The included angle between the spray arm and the movement direction is ; Represents drag resistance; , Representing the track center to robot geometric center distance, Represents steering resistance torque; , And Is disturbance of ocean current on the sea bottom and meets the following requirements , , And Respectively represent And (3) with Is an unknown positive constant; , And Representing the gain factor of the controller; Representing an uncertainty term in the anti-ocean current motion model; 、、 And The parameter matrices are respectively expressed as follows: , , , Wherein, the 、 Respectively representing the total mass of the submarine cable laying robot under water and the rotational inertia of the vehicle body; representing the positive friction coefficient of the left crawler belt and soil; the positive friction coefficient between the right crawler belt and soil is represented; And Representing left and right tracks, respectively; Representing the rotational inertia of the track; representing the traction coefficient; ( ) Traction input representing left and right tracks; indicating the radius of rotation of the track drive wheel.
3. The method of claim 1, wherein step 2 comprises the following steps: The input signal of the performance constraint module is given reference track And position information of a subsea cabling robot The output signal is a performance constraint signal And ; In the course of the tracking process, A reference trajectory is represented and a reference trajectory is represented, The path parameters are represented by a set of parameters, Representing a time variable, defining a position error as: (2) Wherein, the , , Representing a position abscissa error; representing the desired position abscissa; representing a position ordinate error; representing the ordinate of the desired position; Representing position error, course tracking error is: (3) Wherein, the Is an error with the abscissa of the position And position ordinate error An associated ideal heading angle, an , Representing the arctangent function, the construction error constraints are as follows: (4) Wherein, the And (3) with Represents a boundary function to be set, and Boundary function And The following conditions are satisfied: (5) To ensure tracking error And The performance and convergence accuracy of (1) design performance functions, thus, build And The following are provided: (6) Wherein, the , , Is a design parameter that is used to determine the design, As a function of the predetermined performance of the device, For the purpose of convergence accuracy, And Is an auxiliary parameter for tracking errors.
4. The method according to claim 3, wherein in step 2, the following logarithmic barrier function is introduced to ensure constraint (4): (7) wherein, and Representing an obstacle function with respect to the position error; Representing an obstacle function with respect to heading tracking error; Representing intermediate variables and , Representing intermediate variables and , Representing natural logarithmic functions if and only if In the time-course of which the first and second contact surfaces, When (1) , When (1) , And thus azimuth angle tracking error Will converge to a tight set containing the origin An inner part; By using the formula (7), for And Derived from , , wherein, (8) Wherein, the And (3) with Representing a predetermined time control signal; A signal representing a distance from the predetermined time; Representing an angular predetermined time signal.
5. The method of claim 1, wherein in step 3, the step of designing the obstacle avoidance signal is as follows: the input signal of the virtual controller module is the position information of the submarine cable laying robot The output signal is an obstacle avoidance signal And ; (9) Wherein, the Indicating that submarine cable laying robot is in Potential energy value under the distance difference; The potential energy value represents the submarine cable laying robot and the first Potential energy values of the individual obstacles; , , , representation of submarine cabling robot The distance difference between the individual obstacles is such that, Representing the planar position of the subsea cabling robot, Represents the planar position of the obstacle, Indicating the specific planar position of the obstacle, Represent the first The presence of a number of obstacles such as, Representing a detection range with the obstacle; representing the minimum safe collision avoidance radius with the obstacle; For a pair of And (3) deriving: (10) Wherein, the Thus, when In the time-course of which the first and second contact surfaces, Is monotonically decreasing when In the time-course of which the first and second contact surfaces, Is infinite, in addition, when In the time-course of which the first and second contact surfaces, The obstacle avoidance signal is designed as follows: (11) (12) Wherein, the 、 The repulsive force obstacle avoidance signals respectively representing the speed direction and the angular speed direction.
6. The method according to claim 1 or 5, wherein in step 3, the virtual control signal is designed as follows: The input signal of the virtual controller module is a performance constraint signal And Speed information of submarine cable laying robot The output signal is an output virtual control signal And ; The specific design is as follows: First, by using the formulas (7) and (8), the derivatives are obtained, respectively: (13) (14) on the basis, the method comprises the following steps of: (15) (16) the following errors are defined: (17) (18) Wherein, the And Respectively representing a longitudinal speed error and an angular speed error; And Representing a first order filter output error; And Representing the filtered signal; And Representing virtual control signals to be designed, letting And Sequentially combining time constants through a first-order low-pass filter And The design is as follows: , wherein, the method comprises the steps of, , For a pair of And And (3) deriving: (19) Wherein, the And The representations represent a succession of functions respectively, , ; And Representing a positive constant; Designing virtual control signals And The following are provided: (20) (21) Wherein, the , Is a design parameter that is used to determine the design, , Is to ensure Is set, and the design parameters of (a) are set.
7. The method according to claim 1, wherein the step 4 specifically comprises: The input signal of the adaptive law module is the speed information of the submarine cable laying robot Obstacle avoidance signal And Virtual control signal And The output signal is a parameter adaptive law And path parameters ; For unknown function terms in the system: (22) Wherein, the In order to determine the term(s) of uncertainty, And An uncertainty term representing the speed and angular velocity direction, respectively; respectively approximating by using fuzzy logic system And The method can obtain: , , wherein, Is that Is used to determine the optimum parameter vector of (a), Is that Is used to determine the optimum parameter vector of (a), Is based on As a continuous function of the variables, Is based on As a continuous function of the variables, And Representing vectors with speed and angular speed as variables respectively, And To approach error, satisfy And , And Is a positive constant; The following parameter adaptive law is designed: (23) (24) wherein, the , The design parameters are represented by a set of parameters, And Representing a control gain matrix of the design; Defining path speed error as , Is the desired speed at which the vehicle is traveling, Is the path parameter, and the designed path parameter updating law The method comprises the following steps: (25)。
8. the method according to claim 1, wherein the step 5 comprises the following steps: The input signal of the disturbance observer is a virtual control signal And Adaptive law of parameters And Obstacle avoidance signal And Outputting a saturation signal as saturation control And ; Design of saturation assistance parameters And To reduce the effect of input saturation: Wherein, the , , , Is a design parameter that is used to determine the design, Satisfy the following requirements , Gain coefficient for the controller; The following intermediate control signals are designed: (26) (27) Wherein, the Is a positive design parameter; the saturation control signal is: Wherein, the , Is an intermediate control signal which is used to control the operation of the device, Representing the maximum value of the input of the controller, Representing the minimum value of the controller input.
9. An obstacle avoidance tracking control system for a robot having an input saturated ocean bottom cable for implementing the control method of claim 1, comprising: The model creation module is used for building a motion model of the submarine cable laying robot; The performance constraint module is used for calculating a position tracking error and a heading tracking error based on the motion model, a given reference track and real-time position information of the submarine cable robot, and introducing a performance constraint function to carry out constraint processing on the errors to obtain a performance constraint signal; the obstacle avoidance module is used for designing an obstacle avoidance signal for avoiding obstacles based on the position information of the submarine cable laying robot; The virtual controller module is used for designing virtual control signals based on the performance constraint signals, real-time speed information of the submarine cable laying robot and obstacle avoidance signals, wherein the virtual control signals comprise longitudinal speed virtual control signals and angular speed virtual control signals; The self-adaptive law module is used for designing a parameter self-adaptive law for estimating unknown disturbance and uncertain items in the system based on the virtual control signal, the obstacle avoidance signal and the real-time speed information of the submarine cable laying robot; the saturation input module is used for combining a saturation auxiliary system designed for inhibiting the input amplitude of the actuator based on the virtual control signal, the parameter self-adaptive law and the obstacle avoidance signal, and designing a saturation control input finally applied to the submarine cable laying robot.

Description

Obstacle avoidance tracking control method and system for submarine cable laying robot with input saturation Technical Field The invention relates to the field of control of submarine cable laying robots, in particular to a method and a system for controlling obstacle avoidance tracking of an input saturated submarine cable laying robot. Background In recent years, with the increasing demand for development of marine resources, various underwater equipment has been rapidly developed. In deep water, engineering tasks are performed, and particularly, the submarine cable laying robot with the characteristic of a crawler belt can be remotely operated through an umbilical cable of a surface ship. The submarine cable laying robot can realize complex unmanned operations such as submarine cable installation, maintenance and inspection. Meanwhile, the submarine cabling robot inevitably encounters various static and dynamic obstacles in a complex marine operating environment. In such a case, tracking control of the subsea cabling robot path tracking obstacle avoidance to avoid multiple obstacles would be a challenge. At present, although the submarine cable laying robot has a plurality of advantages in completing actual ocean tasks, the following problems still exist in the prior art: In the existing research on the submarine cable laying robot, the movement of the submarine cable laying robot is subjected to a plurality of uncertain factors, so that the submarine cable laying robot inevitably encounters various obstacles, and meanwhile, the existing control method mostly ignores environmental disturbance factors due to the fact that submarine operation environment information is difficult to acquire in practice, so that the track tracking control effect of the submarine cable laying robot in practical application is not ideal. In order to solve the problems, tracking error constraint is required to be established, and a performance constraint function is introduced to relieve the influence of external interference on the submarine cable laying robot so as to realize accurate control. In addition, the existing tracking control method does not consider the problem that the loss of an actuator component is caused by the fact that the amplitude of the tracking controller is too large, the input saturated submarine cable laying robot tracking controller with strong robustness is designed, the loss of the actuator component is reduced, and the stability of the submarine cable laying robot tracking control is improved. Disclosure of Invention The invention aims to provide an obstacle avoidance tracking control method and system for an input saturated submarine cable laying robot, which combines a fuzzy self-adaptive control algorithm with a performance constraint control theory, provides an obstacle avoidance tracking control technology of the submarine cable laying robot, and realizes obstacle avoidance tracking control of the submarine cable laying robot. In order to achieve the above purpose, the invention adopts the following technical scheme: The obstacle avoidance tracking control method of the submarine cable laying robot with input saturation comprises the following steps: Step 1, constructing a motion model of a submarine cable laying robot; step 2, calculating a position tracking error and a heading tracking error based on the motion model, a given reference track and real-time position information of the submarine cable robot, and introducing a performance constraint function to carry out constraint processing on the position tracking error and the heading tracking error to obtain a performance constraint signal; Step 3, designing a virtual controller based on the performance constraint signal, real-time speed information of the submarine cable laying robot and an obstacle avoidance signal designed for avoiding obstacles, wherein the virtual controller outputs virtual control signals including a longitudinal speed virtual control signal and an angular speed virtual control signal; step 4, designing parameter self-adaptive rules based on the virtual control signals, the obstacle avoidance signals and real-time speed information of the submarine cable robot, wherein the parameter self-adaptive rules are used for estimating unknown disturbance and uncertain items in the system and comprise longitudinal speed self-adaptive rules and angular speed self-adaptive rules; And 5, designing a saturation control input finally acting on the submarine cable laying robot based on the virtual control signal, the parameter self-adaptive law and the obstacle avoidance signal and combining a saturation auxiliary system designed for restraining the input amplitude of the actuator. Further, the step 1 specifically includes: the input signal of the submarine cable laying robot is an input signal And path parametersThe output signal is the position information of the submarine cable laying robotAnd speed information; The motion model