Research On Trajectory Tracking Control Of Mothership For UUV Under Acoustic Communication Incomplete

Under the harsh marine conditions,the ability of following mother ship under the guidance of Sonar Communication for UUV is important for recovery task.Restrict by the ability of Sonar Communication,UUV cannot obtain information from mother ship in real time,just some discrete sampling data submitted by the mother ship can be received,and it is easy to incomplete because of interference.Based on this incomplete location information to design a tracking controller for UUV,which with a certain anti-interference ability,would be of great value for tracking mother ship in current environment in recovering operation on the sea.Therefore,several key problems existed in tracking mother ship of UUV has been researched in this paper as follows:Firstly,the inertial coordinate system and movement coordinate system have been established to describe the motion laws of UUV,after the motion features and force are analyzed,the spatial kinematics and dynamics models of UUV are established.Secondly,a RBF neural network estimate method is proposed to estimate the lost point information of mother ship by learning the historical and latest data.Considered the number of sample data about the mother ship is little,a Grey RBF method is introduced,the grey predicted model is used to weaken the randomness and strengthen regularity of the sample data through the gray generation process,and then the RBF neural network is used to estimate the gray generation data,then a whiten process is used to estimate the lost position of mother ship.Based on ant colony algorithm and multi-objective optimization algorithm in continuous space,between every two position information of mother ship,an energy consumption and course optimal trajectory planning method is designed,and then the optimal tracking guidance law is obtained.Therefore,the problem of way-point tracking is converted into trajectory tracking.Thirdly,based on backstepping and lyapunov stability theory,a three-dimensional trajectory tracking controller is proposed,singular values are avoided by the designed virtual control variables.The error equations are derived and the stability of controller is proved.The trajectory tracking error control is converted into velocity,pitch and heading control.Finally,combine with the designed GM-RBF,optimal trajectory plan method and the backstepping trajectory tracking controller,simulation experiments under different conditions are provided through matlab,results illustrate the designed GM-RBF,trajectory planning method and backstepping trajectory tracking controller is effective in trajectory tracking and has certain robustness.Further evidence that the designed trajectory tracking method is feasible in UUV tracking mother ship under the condition of acoustic communication data incomplete.