基于灰色预测的AUV水平面轨迹跟踪控制研究

Research on Method for AUV Horizontal Tracking Control Based on the Grey Prediction

为解决自主式水下航行器轨迹跟踪控制中的不确定性问题,以及在各种航向角偏差情况下,保证正确的航向和准确的轨迹跟踪问题.提出基于灰色预测的模糊自适应航向角控制系统,克服不确定性对轨迹跟踪控制的影响;以航向角偏差预测值作为轨迹跟踪方案的选择依据.通过对水下航行器S形搜索的轨迹跟踪进行仿真研究,结果证明该方法具有较好的控制效果,可以保证水下航行器在不同航向角偏差的情况下稳定、准确的进行轨迹跟踪.

The research aims to deal with uncertainty in AUV horizontal tracking control and to ensure the proper heading and precise tracking of AUV on different deviation of yaw angle. A fuzzy adaptive control system was proposed on the basis of prediction to overcome the influence of uncertainty on Horizontal Tracking Control of AUV. The tracking control method is chosen according to the prediction of deviation of yaw angle. The simulation is conducted by means of tracking in S-type search trajectory. The results show that the method is effective and ensures the stable and accurate horizontal control on different deviation of yaw angle.