Research On Robust Tracking Control Of AUV Based On Error Space

Precision tracking control is a critical capacity of AUV(Autonomous Underwater Vehicle). Most existing traditional control algorithm may be very effective for the other dynamic control, but not for the tracking control. Since AUV tracking system have strong interference and the trajectory to be tracked is uncertainty, a robust tracking control algorithm based on error space was proposed to deal with complex marine environment and variable parameter. Tracking control is a basic capacity for AUV task, such as seafloor topography survey, remote hidden navigation, underwater dynamic docking, laying and recovery, submarine pipeline maintenance, and so on. Since the coupled system including the dynamics of the error signal with the system dynamics, tracking precision is improved and tracking capacity is enhanced with better robustness.Firstly, by a in-deep analysis of the the kinematics model of the AUV, the motion of eqution was propursed, the total vehicle forces and moments are discribled in detail, the nonlinear characterisics of the rudder was describled with mathematical description. Then we describe the basic theory of the error space, the space motion of the AUV nonlinear model was decouped and linearization, and design a position tracking controller based on error space. The AUV speed controller was designed using a classical digital PID. And Path parametrization was described. By analysis disturbances of the wave, current and measurement noise of the AUV was given. The waves are simulatied utilizing statistical methods. The measurement noise on the tracking control system impact models was given.Simulation of the error space controller utilizing different system configurations, different tracked trajectories and different interference, comparison with the classical PID controller, the result show that the controller can be tracking the trajectory with zero error with robustness.