Research On Underactuated AUV Maneuvering Target Tracking Control

Underwater maneuvering target tracking control is a key technology for autonomous underwater vehicle(AUV)to achieve offshore defense,docking recovery,target tracking monitoring,target dynamic strike and other operational tasks,and has a wide application prospect.In this paper,the key issues of AUV mathematical model,underwater maneuvering target motion model,underwater maneuvering target state estimation,under-actuated AUV underwater maneuvering target tracking control guidance method and tracking control method are studied for under-driven AUV maneuvering target tracking control problem.Firstly,the related object models in the target tracking system are established,including the underactuated AUV model and the underwater maneuvering target motion model.In the inertial coordinate system and the satellite coordinate system,the kinematics of the hull is analyzed and subjected to force analysis,and the underactuated AUV spatial kinematics model and dynamics model are established.Consider the possible state of maneuvering motion of underwater targets,and establish a motion model suitable for underwater targets,including constant velocity model,constant acceleration model,Singer model,and constant speed coordinate turn model and the kinematics equation is given.Secondly,the state estimation method of underwater space maneuvering target based on interactive multi-model and extended Kalman filter is studied.Based on the principle and basic composition of underwater maneuvering target tracking,the basic principle of target state estimation and the concept and principle of standard Kalman filter,the design is based on extended Kalman filter and interactive multi-model extended Kalman filter.The improved adaptive multi-model extended Kalman filter algorithm is used to estimate the underwater maneuvering target state,and the underwater maneuvering target motion state filtering estimation simulation experiment is designed to verify the tracking performance of the proposed target state filtering estimation method.Thirdly,the under-driving AUV underwater maneuvering target tracking control guidance method is studied.Introduce the target tracking method,including line of sight method,pure tracking method and constant value azimuth method.Based on the line-of-sight method,the kinematic equation of the underactuated AUV.and the Lyapunov stability principle,the design target tracking controls the desired speed and angular velocity.Finally,the problem of under-actuated AUV maneuvering target tracking control is studied,and the tracking control law is designed.The under-actuated AUV maneuvering target tracking control law is designed based on dynamic surface neural network adaptive control and neural network adaptive non-singular terminal sliding mode control.The control law and adaptive law are designed by Lyapunov stability principle,and the controller stability analysis is proved.Based on Matlab/Simulink design tracking simulation experiment,the feasibility and effectiveness of the underactuated AUV underwater maneuvering target tracking controller proposed in this paper are verified.