The Researches Of Robust Control Methods And Experiments For Unmanned Surface Vehicles

In recent years, the technology of robot has got a high-speed development. avariety of mobile robot has been used in a lot of fields,such as the defense industry,scientific research, the support of disaster and public services; The mobile robotsworks in variable environment, dynamic, unpredictable, presence of noise, whichoften causes the change of the kinetic parameters of the robot. Therefore,the traditionalcontrol technology can’t achieve the objective which adapts to current environmentalrequirements and self-adaptation to the environment. Therefore, the research on robustcontrol method for mobile robot, solving the problem in complex case,has a veryimportant theory significance and the value of practical application. In thesis, Thestudy is mainly in the following several aspects on the robust control method for themobile robot.（1）From the point of view of the motion control, a full6DOF dynamics modeland the horizontal plane movement dynamics model are established considering thewhole system dynamics model including the thrust and hydrodynamic.（2）The corresponding program is developed in the surface mobile robotexperiment platform. Four modules of the program is designed to achieve differentfunctions respectively. The main thread module is designed to coordinate the otherthread, the network communication module is used to communicate the robot and theground station, the serial communication module accepts the data from a variety ofsensors on the unmanned ship and sends the control strategies to the unmanned ship,the counter module is used to complete the calculation results of various controlstrategies.（3）According to the ship course control principle and the characteristics of thesurface mobile robot, the PID automatic control rudder is designed and the controller isachieved by the program. （4）According to the Backstepping principle and the mathematic model of thesurface mobile robot track control system, a unmanned ship controller is designed fortrajectory tracking, and is simulated by simulink, the controller is completed byprogram at last.