| Space curve path following control is an important technical guarantee for underwater robots to complete tasks such as submarine detection,submarine pipeline detection and cable maintenance.In this paper,the path following control technology of underwater vehicle is studied for the "Sea Mouse",a prototype of underwater robot.Considering the nonlinearity of the hydrodynamic model,the coupling between the degrees of freedom,the uncertainty of the hydrodynamic parameters and the existence of the unsteady sea current disturbance,the path following control of "Sea Mouse" path is realized by the fuzzy controller optimized by genetic algorithm.This paper first introduces the design scheme of "Sea Mouse",and establishes the dynamic model for the structure and motion characteristics of "Sea Mouse".Finally,the maneuverability simulation is carried out to validate the correctness of the established "Sea Mouse" motion model.This paper proposes a motion error model of space path following based on line-of-sight method is proposed.This method transforms the position error tracking control of "Sea Mouse"into the asymptotic stability control of speed error,heading angle error and pitch angle error.Designed path following fuzzy controller to determine membership function,fuzzy control rule,antifuzzy Method.Finally,MATLAB is used to simulate the space sinusoidal path following control under different speeds,and the effectiveness of the control method is verified.In this paper,the genetic algorithm is used to optimize the control precision of the fuzzy controller.And proposes a new adaptive scheme in the parameter selection module.Finally,the effectiveness of the controller is compared with that of the controller under the condition of time-varying continuous current disturbance and steady-state discontinuous current disturbance.Simulation results verify the effectiveness of the fuzzy controller based on genetic algorithm.This paper introduces the design of "Sea Mouse" control system,including the hardware design system and software design system.The experimental results show that the optimized controller has better stability and control precision in the path tracking control. |
