Under-actuated AUV (autonomous underwater vehicle) three-dimensional trajectory tracking control method based on biological speed regulation

Abstract

The invention provides an under-actuated AUV (autonomous underwater vehicle) three-dimensional trajectory tracking control method based on biological speed regulation. The method comprises the following steps: (1) giving expected trajectory position information by an AUV according to the current task, and obtaining current position and attitude information; (2) obtaining position and attitude error variables by use of the mathematical model of an under-actuated UUV (unmanned underwater vehicle); (3) calculating a virtual control law by a method of defining a virtual speed error variable; (4) finishing dynamic regulation of the speed error through a biological inspiration model; and (5) deducing a dynamic speed regulation controller. In the method provided by the invention, the speed error of the under-actuated AUV can be dynamically regulated, the performance of the controller is improved while the singular value of the traditional back-stepping method occurring when the heading angle error is 90 degrees is avoided, and accurate tracking of a time-varying three-dimensional trajectory is realized under external constant disturbance.

Description

technical field [0001] The invention relates to a motion control method of an underwater unmanned vehicle, in particular to a motion control method of an underactuated underwater unmanned vehicle. Background technique [0002] The three-dimensional space trajectory tracking capability of autonomous underwater vehicles (AUVs) is an important technical prerequisite for the development of marine resources and seabed topography surveys. The underactuated AUV only has longitudinal propellers, and lacks propellers in the vertical and lateral directions. The six-degree-of-freedom motion form of the AUV in the underwater three-dimensional space makes the model highly coupled and nonlinear. Uncertainty and the need to meet the requirements of time and space make the three-dimensional trajectory tracking control of underactuated AUVs more difficult to realize. [0003] At present, most of the research methods on the trajectory and path tracking control of AUV use the backstepping met...

AI Technical Summary

Problems solved by technology

In order to overcome the shortcomings of the large amount of calculation in the traditional backstepping method, the document "Position-tracking control of underactuated autonomous underwater vehicles in the presence of unknown ocean currents" (IET Control Theory and Applications.2010, Volume 4 Issue 11) adopted the definition The virtual velocity error variable simplifies the intermediate calculation process in the traditional backstepping method; the document "Backstepping Control of Underactuated Unmanned Underwater Vehicle 3D Trajectory Tracking" (Control Theory and Application. 2014, Volume 31, Issue 11) proposed A method to define the virtual velocity error variable is proposed, and the three-dimensional trajectory tracking control of the underactuated UUV is realized. However, in order to avoid the possible singular value of the denominator in the virtual control law, this method reduces the control performance of the system, and the right angle of the trajectory is not corrected in this paper. The inflection point is studied and dealt with; the literature "An efficient neural network approach to tracking control of an autonomous surface vehicle with unknown dynamics" (ExpertSystems with Applications.2013, Vol. 40 No. 5) applies a biologically inspired model and backstepping method to mobile Among robots and surface boats, however, the structure of planar mobile robots and surface boats is relatively simple, and the design of the controller is relatively easy; the document "A Bioinspired Filtered Backstepping Tracking Control of 7000-m Manned Submarine Vehicle" (IEEE Transactions on Industrial Electronics.2014, p. 61, No. 7) applied this bio-inspired model to the fully driven underwater vehicle, and this method only plays the role of smoothing and filtering from the perspective of kinematics, without considering the design of the dynamic model; There is no relevant literature discussing the design of 3D trajectory tracking control for underactuated AUVs based on biological velocity regulation

[0004] In the patent document with the application number 201610247753.1 proposed by the applicant, "A Control Method for Underactuated UUV Plane Trajectory Tracking Based on Dynamic Speed ​​Adjustment" is disclosed, which improves the control law of the backstepping method that defines the virtual speed error variable, and proposes to use biologically inspired The model dynamically adjusts the speed error, but this method only stays in the study of plane trajectory tracking control, and can only track smooth trajectories, and its practical application value is limited

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