Research On Guidance And Robust Control Method Of USV For Launch And Recovery UUV

Unmanned Surface Vehicle(USV)and Unmanned Underwater Vehicle(UUV)are complementary in operation scenarios,operation scope,endurance time and maneuverability.Therefore,it is considered to use USV to realize the independent launch and recovery(L&R)of UUV.It not only solves the risks faced by manual recovery of UUV,but also expands the offshore operation scope of UUV and prolongs the effective operation time.At the same time,USV can be used as the mother ship to provide energy supply and communication relay support for UUV.The compliant guidance and robust control of USV is one of the key problems to realize the L&R of UUV.Therefore,this paper studies this problem,mainly including the following aspects:Firstly,aiming at the compliant guidance problem of unmanned craft when performing the task of recovering UUV,the recovery task is analyzed,and the tail pursuit fuzzy vector field approaching from the rear of UUV and the interception fuzzy vector field approaching from the front are formulated.Then,the terminal guidance law is designed based on Sugeno fuzzy logic.Combined with the pure tracking guidance law,the layered guidance strategy is designed according to the different distance between the USV and UUV,so as to realize the rapid approach and accurate guidance of the unmanned ship to UUV.The fuzzy guidance law and layered guidance strategy are verified by simulation experiments.Secondly,the problems such as uncertainty impact and model mutations in the process of L&R UUV makes the stability control of USV more difficult.So based on the model free adaptive control(MFAC)methods of compact format dynamic linearization(CFDL),partial format dynamic linearization(PFDL)and full format dynamic linearization(FFDL),the research of variable parameter MFAC in the robust control of USV is carried out.And the effectiveness of the improved algorithm is verified by a series of simulation experiments.Based on the CFDL-MFAC method and PID method,the speed model of dolphin I USV is simulated and compared to verify the effectiveness of CFDL-MFAC method in speed control.Thirdly,aiming at the problem that standard FFDL-MFAC is difficult to track the desired course in the case of noise interference,an adaptive Kalman filter based on FFDL is proposed.By introducing the incremental term of expected heading into FFDL-MFAC algorithm,a variable expected FFDL-MFAC algorithm is proposed to improve the tracking effect of timevarying expected heading.Then the improved adaptive filtering algorithm and the improved heading control algorithm are verified by simulation.Finally,considering the precise tracking guidance with the interference of steady sea current in the mission of recovery UUV.By introducing the gain function of lateral position error to the output of fuzzy guidance controller to improve the response of the guidance algorithm to external interference.In the control loop,the variable expectation FFDL-MFAC,variable parameter CFDL-MFAC and PID algorithms are used to carry out the motion simulation test of USV recovering UUV under the interference of steady sea current,to verify the effectiveness of the improved guidance algorithm and the control algorithm.