多自主式水下航行器轨迹精准跟踪控制方法

Research on precise trajectory tracking control method for multi autonomous underwater vehicles

针对多自主式水下航行器轨迹跟踪控制中的不确定性问题,研究多自主式水下航行器轨迹精准跟踪控制方法。构建基于灰色预测的轨迹精准跟踪控制模型,利用灰色预测模型预测航行器航向角,构建一元多项式回归模型,拟合航行器初始航向角同预测航向角间的残差,优化灰色预测模型,提升航行器航向角预测精度。将航向角预测结果代入PID控制器内,通过计算航向角控制率确定位置误差、速度误差与加速度误差,通过控制上述误差实现航行器轨迹准确跟踪控制。实验结果显示该方法可在航行器不同运动特性下准确跟踪轨迹,并具有较好的控制效果。

To address the uncertainty issue in trajectory tracking control of multi-autonomous underwater vehicles,a precise trajectory tracking control method for multi-autonomous underwater vehicles is studied.Build a trajectory accurate tracking control model based on gray prediction,use the gray prediction model to predict the aircraft's heading angle,build a unitary polynomial regression model,fit the residual between the initial heading angle of the aircraft and the predicted heading angle,optimize the gray prediction model,and improve the prediction accuracy of the aircraft's heading angle.Bring the predicted heading angle results into the PID controller,determine the position error,velocity error,and acceleration error by calculating the heading angle control rate,and achieve accurate tracking control of the aircraft trajectory by controlling the above errors.The experimental results show that this method can accurately track trajectories under different motion characteristics of the aircraft and has good control effects.