Research On Target Tracking Control For AUV In Oceanic Environment

The research on target tracking is a pop field of Autonomous Underwater Vehicle(AUV) technology. Aiming at the problem that AUV tracks kinetic target in the plane, thearticle adopts backstepping techniques, and it solves the control problem of trackingtarget trajectory in the plane. The research on target tracking of AUV has a wideapplication valve for sonar detection, underwater combat, security work at sea andmarine exploitation.The paper mainly studies target tracking problems of AUV from the followingaspects:Firstly, building mathematical models, it includes AUV motion modeling, currentmodel and target motion model. AUV motion modeling includes coordinate system,thruster model and six degree of freedom model of AUV. Target motion model includesCV model, CA model and CT model.Secondly, estimating the state of target based on Kalman filter theory. We discussthe theory of estimation and filtering. Then, the paper studies the principles andalgorithm of Kalman filter, extended Kalman filter and variable dimension (VD) Kalmanfilter. Based on different filtering algorithm, we give the corresponding estimationsimulation of the state for different target model.In addition, aiming at underactuated AUV, we design a target tracking controller.The chapter discusses the classification of tracking problems and constraints, and givesthe model of underactuated AUV and target motion trajectory planning. Then, using thebackstepping techniques in the nonlinear control theory, we design a target trackingcontroller, and in detail we present the designing process of the controller.Finally, combined with the model of underactuated AUV, using the designedcontroller, we simulate for the target motion trajectory, and give the figures of the targettracking and the errors variables. The simulation results prove that the designedcontroller is feasible and reliable.