The trajectory tracking control of hybrid-driven unmanned underwater vehicles in underwater dual-mode operation is studied. In accordance with the different kinematics characteristics of hybrid-driven unmanned underwater vehicle in free-flying and crawling modes,a controller based on improved grey wolf optimization model predictive control algorithm is designed to realize the trajectory tracking of the vehicles in free-flying mode,and a controller based on fuzzy sliding mode control algorithm is designed to realize the trajectory tracking of the vehicles in crawling mode. The simulated results show that the designed improved grey wolf optimization model predictive controller solves the objective function in the rolling optimization stage of the model predictive controller by introducing the improved grey wolf optimization algorithm,enabling the unmanned underwater vehicles in free-flying mode to quickly,accurately and stably track the preset trajectory. The designed fuzzy sliding mode controller adopts fuzzy control to adjust the convergence law parameters online in the sliding mode controller,enabling the unmanned underwater vehicles in crawling mode to achieve finite time convergence while suppressing chattering.
关键词
水下机器人/混合驱动/轨迹跟踪控制/模型预测控制/灰狼优化/滑模控制/模糊控制
Key words
unmanned underwater vehicle/hybrid-driven/trajectory tracking control/model predictive control/grey wolf optimization/sliding mode control/fuzzy control
维普
万方数据