Trajectory Tracking Control for Hybrid-driven Unmanned Underwater Vehicles with Free-flying and Crawling Dual-mode

doi:10.12382/bgxb.2023.0575

Abstract

Abstract:

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.

Key words: unmanned underwater vehicle, hybrid-driven, trajectory tracking control, model predictive control, grey wolf optimization, sliding mode control, fuzzy control

CLC Number:

TP242
TP273

CHEN Qi, QIN Guoyang. Trajectory Tracking Control for Hybrid-driven Unmanned Underwater Vehicles with Free-flying and Crawling Dual-mode[J]. Acta Armamentarii, 2024, 45(9): 3216-3229.

Figures/Tables 14

Fig.1 Structure diagram of hybrid-driven unmanned underwater vehicle

Fig.2 Coordinate system of free-flying mode

Fig.3 Coordinate system of crawling mode

Fig.4 Structure diagram of controller based on IGWO-MPC algorithm

Table 1 Fuzzy control rule

S	NB	NM	NS	ZE	PS	PM	PB
K	PB	PM	PS	ZE	NS	NM	NB
L	PB	PB	PS	PM	PS	PS	PS

Fig.5 Membership functions of fuzzy logic controller

Fig.6 Block diagram of controller based on FSMC algorithm

Table 2 Standard test function

函数	表达式	维度	取值范围
F₁	F(x)= $∑ i = 1 D x i 2$	30	[-100,100]
F₂	F(x)= $m a x i$ {\|x_i\|,1≤i≤D}	30	[-100,100]
F₃	F(x)= $∑ i = 1 D$ [ $x i 2$ -10cos (2πx_i)+10]	30	[-5.12,5.12]
F₄	$F(x)=-20 \exp \left(-0.2 \sqrt{\frac{1}{D} \sum_{i=1}^{D} x_{i}^{2}}\right)-\exp \left(\frac{1}{D} \sum_{i=1}^{D} \cos \left(2 \pi x_{i}\right)\right)+20+e$	30	[-32,32]

Table 2 Standard test function

函数	表达式	维度	取值范围
F₁	F(x)= $∑ i = 1 D x i 2$	30	[-100,100]
F₂	F(x)= $m a x i$ {\|x_i\|,1≤i≤D}	30	[-100,100]
F₃	F(x)= $∑ i = 1 D$ [ $x i 2$ -10cos (2πx_i)+10]	30	[-5.12,5.12]
F₄	$F(x)=-20 \exp \left(-0.2 \sqrt{\frac{1}{D} \sum_{i=1}^{D} x_{i}^{2}}\right)-\exp \left(\frac{1}{D} \sum_{i=1}^{D} \cos \left(2 \pi x_{i}\right)\right)+20+e$	30	[-32,32]

Table 3 Comparison of optimizated results of different algorithms

函数	GWO		EGWO1		EGWO2		IGWO
函数	平均值	标准差	平均值	标准差	平均值	标准差	平均值	标准差
F₁	9.8207×10^-19	8.7469×10^-19	1.5871×10^-23	8.1979×10^-24	1.0664×10^-29	2.1005×10^-29	8.1052×10^-36	2.5631×10^-35
F₂	4.1946×10^-05	2.0654×10^-05	8.2416×10^-07	3.9997×10^-07	1.0228×10^-08	7.8674×10^-09	1.1079×10^-11	3.4305×10^-11
F₃	6.5767	5.9961	1.3252	2.8940	1.1637	2.6976	0	0
F₄	1.5696×10^-10	6.4676×10^-11	1.0671×10^-12	8.2545×10^-13	3.0376×10^-14	2.3979×10^-15	8.8800×10^-16	0

Fig.7 Optimized results of test function (left: the parameter space, right: the fitness space)

Fig.8 Spiral trajectory tracking results for different controllers

Table 4 Trajectory tracking results of different controllers

控制器	x平均误差/m	y平均误差/m	z平均误差/m	平均值/m	方差/ m
MPC	0.5497	0.6211	0.2169	0.4626	0.0466
GWO-MPC	0.3175	0.3960	0.1781	0.2972	0.0122
EGWO1-MPC	0.3306	0.4003	0.1810	0.2988	0.0122
EGWO2-MPC	0.3177	0.4240	0.1982	0.3133	0.0128
IGWO-MPC	0.3007	0.3280	0.1463	0.2583	0.0096

Fig.9 Results of circular trajectory tracking

Table 5 Trajectory tracking results of different controllers

控制器	x_m稳态误差/m	y_m稳态误差/m	平均稳态误差/m	方差/m	x_m收敛时间/s	y_m收敛时间/s	θ_m收敛时间/s	平均收敛时间/s
SMC	0.0361	0.0042	0.0403	5.0881×10^-4	4.9	4.8	0	3.2
TSMC	2.3196×10^-15	1.5625×10^-16	1.9411×10^-16	2.3400×10^-30	1.7	1.5	1.8	1.7
BSMC	6.3116×10^-04	2.2597×10^-04	4.2857×10^-04	8.2089×10^-08	4.8	2.3	4.7	3.9
FSMC	4.1125×10^-19	4.2774×10^-19	4.1950×10^-19	1.3596×10^-40	0.8	0.9	1.1	0.9

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