UUV trajectory tracking control method for preventing differential explosion
A trajectory tracking, differential explosion technology, applied in adaptive control, general control system, control/regulation system, etc., can solve the problems of actuator input saturation, complex controller design, affecting control accuracy, etc.
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[0068] The following examples describe the UUV trajectory tracking control method of the present invention to avoid differential explosion in detail:
[0069] In step 1, the UUV assigns the desired trajectory position information to the UUV according to the current task, and collects data through the navigation equipment and sensors on board to obtain the current position X(t)=[x(t),y(t),z (t)] T Information, attitude [θ(t),ψ(t)] T Information, speed V(t)=[u(t),v(t),ω(t),q(t),r(t)] T information.
[0070] Then UUV obtains the initial position X(t)=[x(t),y(t),z(t)] in the ground coordinate system T , UUV initial heading angle ψ(t), pitch angle θ(t), UUV initial longitudinal velocity u r (t), lateral velocity v r (t) and the yaw angular velocity r(t), and given the desired trajectory position X d (t)=[x d (t),y d (t),z d (t)] T .
[0071] In step 2, the information in step 1 is used to calculate the position error between the actual trajectory and the expected trajectory and the expect...
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