Sub AUV Control Algorithm for Sub-Parent AUV Delivery Based on MPC-MRAC
Aiming at the special requirements of load capacity,response speed,and multi body collaboration in underwater search and rescue,and underwater cluster operations,a concept of sub-parent autonomous underwater vehicle(AUV)is proposed.The deployment process for the sub AUV platform are designed and analyzed,the force on the sub AUV under different motion modes are analyzed,and a model is established.A sub AUV control algorithm based on MPC-MRAC is designed and simulated based on the motion characteristics of the sub AUV.The algorithm has fast response speed and control stability,and is suitable for autonomous motion control after sub AUV deployment.Its response speed is 42.48％faster than backstepping sliding mode control,87.05％faster than PID control algorithm,and the control accuracy is 77.54％higher than backstepping sliding mode control,76.19％higher than PID control algorithm.A prototype is designed and manufactured for the system,and lake experiments are conducted.The results show that the proposed sub AUV control algorithm has good feasibility and reliability,and can smoothly achieve safe and reliable operation of the sub AUV after deployment.After a short period of attitude change after leaving the cabin,the sub AUV is separated successfully from the parent AUV and is proceeded with the depth fixation task,and an approximate equidistant distribution is ultimately achieved.A control algorithm basis for sub AUVs can be provided by the research results which is used for sub-parent AUV delivery.
sub-parent autonomous underwater vehicle(AUV)load distributionmodel reference adaptive controlattitude conversion control
NETL
NSTL
万方数据
