Unmanned underwater vehicle (UUV) pose control device and method based on penalty wavelet network

Abstract

The invention provides an unmanned underwater vehicle (UUV) pose control device and a method based on a penalty wavelet network. Through a control parameter setting system with a penalty wavelet network integrated, a new controller parameter is generated, control information is obtained through the controller, the control information is fed to a power propulsion system for instruction allocation, a longitudinal thrust, a lateral thrust and a torque are generated, and UUV pose control is realized. A mode of combining outlier elimination and Kalman filtering smoothing is firstly adopted to realize sensor measurement optimization, the control parameter setting system with the penalty wavelet network integrated is firstly added to the front end of the controller, advantages of wavelet analysis and a neural network are combined, a penalty term is introduced to optimize the network generalization ability, the problem that the wavelet network generalization performance is not strong can be solved, a reasonable controller parameter can be generated adaptively, and unmanned underwater vehicle pose control is realized. Thus, a positive meaning is realized in development of fields such as underwater operation and motion control for the unmanned underwater vehicle in the future.

Description

technical field [0001] The invention relates to a device and method for controlling the pose of an unmanned underwater vehicle based on a penalty wavelet network, which belongs to the technical field of pose control of an unmanned underwater vehicle and can be used in the fields of underwater operations and motion control of unmanned underwater vehicles. . Background technique [0002] An unmanned underwater vehicle (UUV) is a submersible that can submerge underwater for a long time, rely on its own energy, self-propelled, remote control or autonomous control, perform combat or operational tasks by configuring mission loads, and can be recovered and reused. Traditional UUV is mainly used for reconnaissance, survey, search, delivery and tracking, etc., and its movement mode is cruise. And through the control surface, that is, the rudder for motion control. This type of UUV must move at a certain speed to ensure its own stability, so it cannot complete the fixed-point hoveri...

AI Technical Summary

Problems solved by technology

However, the wavelet network has problems such as overemphasizing overcoming learning errors and resulting in poor generalization performance.

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