3D Trajectory Tracking And 2D Formation Control Of Underactuated AUV

With the development of science and technology and the aggravation of energy consumption,people pay more and more attention to the exploration and development of the ocean.Underactuated AUV has advantages in reducing system energy consumption,cost and quality,and improving system reliability,so it is widely used in engineering practice and its control problem has also become a research hotspot.In this paper,the underactuated AUV trajectory tracking algorithm in 3D space is studied.The complexity of the algorithm is reduced to ensure the real-time and effective implementation,and the influence of external environment interference is considered.The formation control in 2D space is studied,and the complexity of obstacle avoidance algorithm is reduced by using chase strategy.The main research work of this paper is as follows:(1)This paper presents a 3D trajectory tracking control algorithm for underactuated AUV Based on virtual input dynamic inversion,which realizes the trajectory tracking without external interference.This method regards states as virtual inputs,which reduces the complexity and difficulty of constructing Lyapunov functions.And the stability of the control algorithm is proved by the stability principle of cascade system.Finally,Simulation experiments verify the effectiveness of the algorithm.(2)Considering that the proposed dynamic inversion 3D trajectory tracking control algorithm does not take the external environment interference factors into account,this paper proposes a backstepping adaptive sliding mode control method to realize the trajectory tracking of underactuated AUV under the external environment interference.The algorithm will use the backstepping method to design the expected speed to ensure that the position error converges to a small area of zero,and adopt the adaptive sliding mode control to add the adaptive control to the approach rate of the sliding mode surface to offset the influence of the interference and realize the convergence of the speed.Finally,the method in this paper is used to simulate and solve the trajectory tracking problem of the spiral,which verifies the effectiveness of the algorithm.(3)Underactuated AUV formation control needs to control several AUVs to move,which is more complicated than the trajectory tracking control.Thus,combined with external environment interference,a fuzzy obstacle avoidance control method based on pursuit strategy is proposed in two dimensions.The main idea is to chase the former AUV as the prey of the latter AUV,to achieve formation control by using the relative distance error between the latter and the former,and to achieve effective collision avoidance.