Tracking Control of Underactuated Autonomous Underwater Vehicle Formation under Current Disturbance and Communication Delay

doi:10.12382/bgxb.2023.0417

Abstract

Abstract:

The underwater detection array composed of underactuated autonomous underwater vehicle (AUV) formation has the fast response, good maneuverability, and high intelligence. For the formation control problem of multi-autonomous underwater vehicles without speed information transmission under the combined disturbance of current and time delay, a formation control method which combines the virtual trajectory, trajectory prediction, and adaptive inversion sliding mode control technique is proposed. The position information of navigator and the expected formation are used to obtain the reference trajectory of follower, and introduce a virtual trajectory to make it coincide with the reference trajectory for a finite time, thereby obtaining the expected position and velocity of the follower. On this basis, the least squares method is used to fit the trajectory curve to compensate for the delay, and to complete the formation trajectory tracking under the interference of current through the adaptive backstepping sliding mode control technology. The theoretical analysis and simulated results indicate that the designed method is feasible and effective.

Key words: underactuated autonomous underwater vehicle, formation control, adaptive backstepping sliding mode control, virtual trajectory, time delay

CLC Number:

TP273⁺.5

DING Wengjun, ZHANG Guozong, LIU Haimin, CHAI Yajun, WANG Chiyu, MAO Zhaoyong. Tracking Control of Underactuated Autonomous Underwater Vehicle Formation under Current Disturbance and Communication Delay[J]. Acta Armamentarii, 2024, 45(1): 184-196.

Figures/Tables 24

Fig.1 Detection process of AUV formation

Fig.2 AUV motion coordinate system

Fig.3 Navigator-follower formation structure

Fig.4 Block diagram of AUV formation control

Fig.5 AUV 3D spiral curve tracking

Fig.6 Distance error between AUV and ideal trajectory

Fig.7 Delay free AUV formation trajectory tracking

Fig.8 Position error between navigator and ideal trajectory

Fig.9 Position error between Follower 1 and virtual trajectory

Fig.10 Position error between Follower 2 and virtual trajectory

Fig.11 Distance between Follower 1 and navigator

Fig.12 Distance between Follower 2 and navigator

Fig.13 AUV formation trajectory tracking with delay

Fig.14 Position error between navigator and ideal trajectory

Fig.15 Position error between Follower 1 and virtual trajectory

Fig.16 Position error between Follower 2 and virtual trajectory

Fig.17 Distance between Follower 1 and navigator

Fig.18 Distance between Follower 2 and navigator

Fig.19 Delay compensation AUV formation trajectory tracking

Fig.20 Position error between navigator and ideal trajectory

Fig.21 Position error between Follower 1 and virtual trajectory

Fig.22 Position error between Follower 2 and virtual trajectory

Fig.23 Distance between Follower 1 and navigator

Fig.24 Distance between Follower 2 and navigator

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