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A Horizontal Plane Adaptive Trajectory Tracking Control Method for Autonomous Underwater Vehicles

An underwater vehicle, trajectory tracking technology, applied in two-dimensional position/channel control, control/regulation system, non-electric variable control and other directions, can solve the problem of AUV speed cannot be obtained

Active Publication Date: 2020-10-27
NORTHWESTERN POLYTECHNICAL UNIV
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Problems solved by technology

[0006] Aiming at the situation that the speed of the AUV cannot be obtained in practical applications due to various reasons during the AUV navigation process, the present invention proposes a horizontal plane adaptive trajectory tracking control method for autonomous underwater vehicles. The observer method is used to estimate the velocity and angular velocity of the AUV, and the high-precision approximation function of the radial basis function (RBF) neural network is used to compensate the model parameter uncertainty and external interference items, and the AUV trajectory tracking problem is transformed into Tracking problem in polar coordinate system

Method used

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  • A Horizontal Plane Adaptive Trajectory Tracking Control Method for Autonomous Underwater Vehicles
  • A Horizontal Plane Adaptive Trajectory Tracking Control Method for Autonomous Underwater Vehicles
  • A Horizontal Plane Adaptive Trajectory Tracking Control Method for Autonomous Underwater Vehicles

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[0110] Step 1: The AUV starts trajectory tracking from the initial point (-2, -2) with an initial heading angle of 0° in the inertial coordinate system. The initial forward velocity and lateral velocity are both 0m / s and 0m / s, the angular velocity is 0m / s, and the desired reference trajectory is:

[0111]

[0112] The external interference of AUV is

[0113]

[0114] Step 2: Select the control input as

[0115]

[0116] Among them, k 3 =300,k 4 = 150, the initial value of the high-gain observer is 0, the parameters of the high-gain observer are selected as ε = 0.01, λ = 1, at this time the estimated velocity of the AUV in the body coordinate system is

[0117]

[0118] Select parameter k 1 =0.1,k 2 = 0.1, select the tracking error value δ = 0.2, and calculate the expected input r of the kinematic model vir and u vir :

[0119]

[0120] uvir =k 2 (ρ-δ)+U cosχ

[0121] Calculate the distance ρ between the current position of the AUV and the position of t...

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Abstract

The invention provides a self-adaptation trajectory tracking control method for an autonomous underwater vehicle horizontal plane. By means of a high-gain state observer method, the speed and the angular speed of an AUV are estimated, and high-precision approximation function compensation model parameter uncertain items and external disturbance items of a radial basis function (RBF) neural networkis adopted are used for converting an AUV trajectory tracking problem into a tracking problem under polar coordinate system through coordinate transformation. During the specific solution, firstly, the expectation input of a kinematic model is designed, then, expectation input of the kinematic model is designed, finally, the RBF neural network is used for estimating uncertain items in expectationinput, the neural network weight updating rules are designed, and finally the AUV tracks the expected trajectory.

Description

technical field [0001] The invention designs a horizontal plane adaptive trajectory tracking control method of an autonomous underwater vehicle, which belongs to the field of trajectory tracking control. Background technique [0002] Autonomous Underwater Vehicle (AUV), as an intelligent underwater carrier platform, sails in autonomous mode and can complete tasks such as underwater surveying, sea area surveying and underwater landform surveying, etc. It has important applications in marine environment monitoring and other fields. [0003] The tracking control of the AUV is the basis for realizing many tasks, and many tasks require the AUV to sail to the specified position according to the specified trajectory, and then carry out specific tasks. The trajectory tracking of AUV requires AUV to track a certain time-dependent desired trajectory, and needs to move to a specific place according to a specific trajectory within a specific time. [0004] If the space dimension of th...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0206
Inventor 崔荣鑫严卫生周斌斌高剑张福斌王银涛李慧平李志强
Owner NORTHWESTERN POLYTECHNICAL UNIV
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