Design And Implementation Of Trajectory Tracking Algorithms For Underwater Vehicle With Uncertain Model Parameters

The 21 st century is the century of the ocean,and the ocean will become a new space for human survival and development.In order to walk up to ocean,manage the ocean and safeguard the sea rights,we must rely on strong ocean observation capabilities especially for the ability of target trajectory tracking to provide technical support.As a remotely controlled mobile work carrier,the underwater vehicle provides a new idea for the realization of underwater target trajectory tracking tasks.Most of the existing tracking controllers require the underwater vehicle dynamics model to be accurately known.However,due to the uncertainties such as underwater environmental disturbances,the nonlinear dynamic model of the underwater vehicle is difficult to be acquired.In view of the above problems,this thesis considers the uncertain constraints of the autonomous underwater vehicle(AUV)model parameters and studies the underwater vehicle trajectory tracking algorithm.The main research work of this thesis is as follows:(1)In view of the difficulty in secondary development of existing underwater vehicles,the underwater vehicle is assembled on the hardware,while the software is designed and developed independently.The experimental system of the underwater vehicle is built to ensure that the designed trajectory tracking algorithms can be effectively embedded in the control system of the underwater vehicle,which guarantees the experimental verification of the theoretical research results.(2)Aiming at the trajectory tracking problem of the underwater vehicle with uncertain model parameters,a T-S fuzzy model based the underwater vehicle controller is designed.So the effective tracking of the underwater vehicle with uncertain model parameters can be realized and the control quality of the system can be improved.Finally,the simulation results show that the proposed T-S fuzzy controller can achieve trajectory tracking under uncertain model parameters effectively.(3)In the previous works,the positioning and tracking were usually studied separately,which have the disadvantages of difficult positioning and poor tracking.Based on this,an AUV joint localization and tracking algorithm under asynchronous clock is proposed.Firstly,an asynchronous localization algorithm is designed to accurately estimate the position of AUV.Then,according to the estimated position and the characteristics of AUV susceptible to interference,a model-free adaptive controller is designed to improve the control accuracy of trajectory tracking algorithm.