AUV horizontal planar path tracking control method based on neural dynamic model and backstepping method

Abstract

An AUV horizontal planar path tracking control method based on a neural dynamic model and a backstepping method relates to the technical field of horizontal planar path tracking control of under-actuated AUV. The method improves AUV path tracking control precision. A neural dynamic model theory is introduced and has the characteristics of smooth input and output. Virtual controlled variables appeared in the backstepping method designing process flows by the neural dynamic model, so that complex derivation calculation of the virtual controlled variables is avoided. Compared with a conventional backstepping method, the method prevents a possible parameter blast phenomenon, and substantially improves the control precision of a system.

Description

technical field [0001] The invention relates to the technical field of horizontal plane path tracking control of an underdriven AUV. Background technique [0002] Autonomous Unmanned Underwater Vehicle (AUV, Autonomous Underwater Vehicle) can undertake complex military confrontation, emergency lifesaving and salvage, and operation under dangerous conditions underwater, and has become the preferred choice for marine development, defense industry departments and marine equipment in various countries in the world. One of the most important research directions. [0003] The research on AUV horizontal plane path tracking is mainly divided into the following three aspects: 1) track point tracking, which requires AUV to track and converge to a given discrete position point; 2) trajectory tracking, which requires AUV to track a trajectory with time as a parameter , with time constraints, that is, the AUV is required to move to the specified position at the specified time; 3), path ...

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Problems solved by technology

[0006] "Neural Network H∞ Robust Adaptive Control Method for 3D Path Tracking of Autonomous Underwater Vehicles" (Control Theory and Application, 2012, Volume 29, Issue 3) Establishing AUV 3D Path Based on Orthogonal Projection Serret-Frenet Coordinate System The tracking error equation, using the H∞ robust control idea to design the controller, and introducing the uncertainty of the neural network compensation model, but there are singular value points in the AUV three-dimensional path tracking error model based on the orthogonal projection Serret-Frenet coordinate system, so that the The initial conditions of AUV are constrained, that is, the initial position of AUV must be within the minimum curvature radius of the tracking curve, so the global convergence of AUV tracking cannot be achieved;

[0007] "3D Track Tracking Control of Underactuated AUV Based on Adaptive Backstepping" (Control and Decision, 2012, Volume 38, No. 2) is 3D track point tracking control, and the expected tracking is calculated according to the Line of Sight (LOS) method Sight angle, based on the adaptive backstepping method to design the tracking controller, however, the intermediate dummy variables appear many times in the design process of the backstepping method controller and require tedious derivation calculations

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