Research on dive plane trajectory tracking control method of AUV under current disturbance

摘要

In order to realize the dive plane trajectory tracking control of AUV under the current disturbance, state-dependent riccati equation algrithom is presented. When AUV far away from trajectory point, driving pitch angle same as line-of-sight angle, when AUV nearby the trajectory point, make the velocity vector of AUV same as the trajectory tangent vector. In order to realize the rudder saturated constraints problem, introducing the hyperbolic tangent S type function, equivalent substitution rudder Angle variables. Through the pseudo-linearization of dynamic equations, and calculation of Algebraic Riccati equation, the nonlinear feedback control law is obtained. Avoid the errors caused by the traditional processing of linearization. The method is simple in structure, convenient design. The simulation results show that the proposed controllers can effectively overcome current disturbance, realize longitudinal plane trajectory tracking control of AUV.