FSM trajectory tracking controllers of OB-AUV in the horizontal plane

摘要

In this paper, fuzzy sliding mode (FSM) trajectory tracking controllers of an autonomous underwater vehicle with oil bladder (OB-AUV) in the horizontal plane is proposed, which solves the chattering problem of the traditional AUV sliding mode (SM) controller and improves the accuracy of trajectory tracking. The oil bladder structure of Argo float is adopted in the vertical plane of the OB-AUV, and the balance is maintained by the buoyancy, and the horizontal plane is coordinated by two thrusters. In the proposed FSM controller, the gain of sliding mode control rate is obtained by adjusting the speed error and heading angle error through fuzzy control. According to the kinematics model, an OB-AUV FSM trajectory tracking control system in the horizontal plane is built. In the state of static water and ocean wave, the PID, the SM and FSM trajectory tracking control are simulated and analyzed respectively, and the OB-AUV obstacle avoidance simulation is added. The results show that the FSM trajectory tracking controller has the advantages of high precision, anti-interference and fast response.