Research on automatic tracking of moving trajectories of underwater vehicles on ships
In response to the problem of deviation in the trajectory tracking results of underwater vehicles caused by disturbances in complex operating environments,this paper studies the automatic tracking method for the movement traject-ory of underwater vehicles on ships.Construct a spatial motion model for underwater vehicles(including kinematic and dy-namic models),design an automatic tracking controller for the movement trajectory of underwater vehicles,which mainly in-cludes two parts:an adaptive variable parameter sliding mode controller and a disturbance observer,and use the disturbance observer to accurately observe unknown disturbances in complex operating environments;On the basis of disturbance ob-server,an adaptive variable parameter sliding mode controller is designed.The sliding mode controller constructs an error sliding mode surface and obtains the expected virtual control under the influence of unknown disturbance estimation results in the current underwater environment.To address the periodic vibration problem caused by the exponential approach coeffi-cient,the exponential approach coefficient is converted into an adaptive variable parameter.The experimental results show that this method can effectively achieve accurate tracking of position and velocity during the automatic tracking process of underwater vehicle movement trajectory on ships.
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