Based On Filter Back-stapping Control Methed Of AUV Path Following

Autonomous Underwater Vehicle(Autonomous Underwater Vehicle,AUV)is a hot area of research in various countries at present because AUV path tracking control technology is to realize the scientific exploration,marine natural resources development,offshore defense and underwater search and other fields Therefore,it is of great practical significance to research and develop AUV.AUV usually has the characteristics of non-completeness,strong coupling and non-linearity.The environment disturbance of AUV is usually unknown,which brings many difficulties to the research of AUV's path-following control strategy.This dissertation mainly focuses on the non-integrality,non-linearity and unknown environmental interference of AUV.Based on the research of AUV path-following control,based on the backstepping method,the instrumental filtering backstepping method and the non-linear disturbance observer Step Control Strategy AUV path tracking controller is designed.1.This article takes OceanScan-MST AUV as the research object,based on "virtual guidance" and the establishment of AUV's three-dimensional space under the Serret-Frenet coordinate system.According to the AUV space motion model,the AUV models were respectively verified by the steady-state rotation of the water level and the three-dimensional "helical dive" mobility verification.According to the simulation results,the AUV mathematical model has good maneuverability.2.For the path-tracking control problem of the horizontal AUV,the three-dimensional path-tracking error model is simplified to the horizontal path-tracking error model.According to the Lyapunov stability theory and backstepping control idea,the AUV water level path tracking controller is designed and proved the progressive stability of the closed-loop system.According to the study of the path tracking control of the horizontal plane,this control strategy is applied to the AUV three-dimensional space path tracking control.According to the simulation results,the designed controller can meet the requirements of AUV precise path tracking.3.For AUV path tracking control problems and the traditional backstepping controller design process,there is a problem that requires multiple iterations of “ ”.This article introduces the instruction filter to solve this problem and designs AUV path tracking.The controller of the command filtering backstepping method,which integrates the “virtual control amount” through the integral action of the filter,successfully solves the direct derivation problem of the “virtual control amount” by the traditional backstepping method,thereby greatly reducing the Controller design process.According to Lyapunov control theory,the stability of the path following control system is analyzed and proved.According to the simulation results,the designed controller can meet the requirements of AUV precise path tracking.4.AUV horizontal path tracking controller and three-dimensional path tracking controller are designed based on the backstepping method by introducing a nonlinear disturbance observer for unknown external disturbances and AUV system nonlinearities existing in the AUV mission environment.According to Lyapunov's stability theory,the stability of the control system is analyzed and proved.Then the controller is simulated and verified.The results show that the designed controller can meet the control requirements of AUV path tracking,and the observer can compensate the external disturbance well.