Research On Trajectory Tracking Control Of UUV Considering The Mother Ship Location Data Loss

Recovery of UUV in the harsh marine conditions is a big difficulty. An idea to solve this problem is to boot UUV and trajectory tracking mothership to the sea conditions were good at recovery. UUV can trace the trajectory mothership is a prerequisite for UUV can be obtained accurately mothership location information. Due to adverse sea conditions, UUV will maintain a certain depth tracking mothership track, only this time UUV obtain mothership location information sent by underwater acoustic communication. Limited by the frequency and volume of water acoustic communication, the mother ship will send a certain frequency timing information to UUV, when environmental disturbances caused underwater acoustic communication failure,UUV obtained data is a long time and the sampling interval discrete mothership location information. How to get incomplete tracking information on the mother ship and track repair UUV designed for motion tracking controller for achieving UUV mothership trajectory tracking of great significance.This article from the practical application,implementation considerations mother ship position data loss under UUV mothership track track made the following studies:Firstly, in order to facilitate research and analysis of issues, established inertial coordinate system and movement coordinates system to facilitate the description UUV movement. And established spatial kinematics and dynamics model by analysising UUV kinematics and the force. Then UUV model has been simplified, and simulation results verify the accuracy of the simplified model.Secondly, established UUV tracking mother ship models with the actual situation, and divided the data loss situation into two kinds. For the first class data loss situation raises the cubic spline interpolation to interpolate the missing track information. For the second type of data loss situation proposed the use of IMM Kalman filter to achieve the missing data prediction. Simulation results verify the feasibility of the proposed method. So in the tracking process UUV can obtain information on the time track mothership successive equal time intervals, and for the UUV plan out continuous and smooth trajectory.Thirdly, based on backstepping and lyapunov stability theory, proposed a three-dimensional trajectory tracking controller, and designed virtual control variables to avoid singular values. Then derived the error equations and proved the stability of controller.The trajectory tracking error control is converted into UUVs velocity, pitch and heading control, and prove the stability of the controller. Verified the feasibility of the controller by UUV tracking performance test simulation.Finally, the presence of the mother ship position fix data loss case, and based on backstepping design UUV trajectory tracking controller in Matlab software is designed to track the mother ship position data loss UUV mothership different beats and simulation under different probabilities. The results showed that UUV track to good effect, further validates that the mother ship position data loss under consideration, the position data of the mother ship repair methods and UUV tracking controller is effective and feasible.