An underactuated uuv planar trajectory tracking control method based on dynamic speed adjustment
A trajectory tracking, dynamic speed technology, applied in attitude control, non-electric variable control, vehicle position/route/altitude control and other directions
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[0072] Specific Embodiments 1. An underdriven UUV planar trajectory tracking control method based on dynamic speed adjustment,
[0073] In step 1, the UUV gives the UUV the expected trajectory position information according to the current task, and collects data through the on-board navigation equipment and sensors to obtain the current position P(t)=[x(t),y(t)] T information, attitude ψ(t) information, velocity V(t)=[u r (t), v r (t),r(t)] T information.
[0074] Then the UUV acquires the initial position P(t)=[x(t),y(t)] in the ground coordinate system T , UUV initial heading angle ψ(t), UUV initial longitudinal velocity u r (t), lateral velocity v r (t) and yaw rate r(t), and given the desired trajectory position P d (t)=[x d (t),y d (t)] T .
[0075] In step 2, use the information in step 1 to calculate the position error and expected attitude between the actual trajectory and the expected trajectory through the mathematical model of the underactuated UUV and the...
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