CN107168312A - A kind of space tracking tracking and controlling method of compensation UUV kinematics and dynamic disturbance - Google Patents

A kind of space tracking tracking and controlling method of compensation UUV kinematics and dynamic disturbance Download PDF

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CN107168312A
CN107168312A CN201710347913.4A CN201710347913A CN107168312A CN 107168312 A CN107168312 A CN 107168312A CN 201710347913 A CN201710347913 A CN 201710347913A CN 107168312 A CN107168312 A CN 107168312A
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严浙平
徐达
陈涛
周佳加
张勋
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Harbin Engineering University
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    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G—PHYSICS
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    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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    • G05D1/02—Control of position or course in two dimensions
    • G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours

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Abstract

The invention discloses a kind of compensation UUV kinematics and the space tracking tracking and controlling method of dynamic disturbance, including following steps, step one, the desired trajectory y of smooth bounded is givend；Step 2, the inertial navigator carried by UUV, depth gauge, attitude transducer and Doppler acquisition UUV current posture information and velocity information；Step 3：Choose the position of the virtual controlling point of UUV front ends；Step 4, sets up track following error, is filtered processing；Step 5, using neutral net, UUV kinematics and dynamic disturbance after being estimatedObtain can compensate for distracter adaptive control laws ul；Step 6, obtains actuating mechanism controls signal τa=[τu,τq,τr]T；Step 7, judges whether the position of the virtual controlling point of UUV front ends reaches the terminal of given desired trajectory, if it is, terminating operation；Otherwise return to step two.The present invention can effective compensation learned and dynamic disturbance because UUV is run, improve control effect and control accuracy.

Description

A kind of space tracking tracking and controlling method of compensation UUV kinematics and dynamic disturbance
Technical field
The invention belongs to UAV navigation autonomous control field, more particularly to a kind of compensation UUV kinematics and power Learn the space tracking tracking and controlling method of interference.
Background technology
The appearance of underwater unmanned vehicle (Unmanned Underwater Vehicle, UUV), to carry out ocean exploration Very important means are provided with exploitation, maximally effective ocean development instrument generally acknowledged at present is had become.UUV is a kind of Carry the energy, independent navigation and control, the navigation unmanned under water for the ocean missions that autonomous execution that can not be monitored is numerous Device.
The feedback control of drive lacking Autonomous Underwater Vehicle large quantities of controls and ocean engineering field in attraction in recent years The concern of personnel.Compared with driving UUV motion controls entirely, it is main during drive lacking UUV controller designs consideration is that Executing agency's quantity of UUV independences is less than the number of the free degree.Such a structure increases the difficulty of Design of non-linear controllers. The present invention carries out Trajectory Tracking Control aiming at drive lacking UUV.
During Trajectory Tracking Control is carried out to UUV, general we first can be planned track, when UUV is along the phase When hoping track navigation, due to the influence of extraneous and UUV self-conditions so that UUV actual motion track and desired motion rail Mark has deviation, and then we need reasonably to be controlled so that UUV can be navigated by water preferably along desired trajectory, complete Docked into reclaiming.Cao Yong brightness, Shi Xiuhua in the prior art《Submarine navigation device Trajectory Tracking Control and emulation》For UUV water Plane motion proposes a kind of Trajectory Tracking Control side for combining cross track error and line of sight method based on sliding formwork control Method.Set up the sliding mode controller of cross track error and the sliding mode controller of line of sight method respectively first, when heading angle deviation compared with Line of sight method is used when big, cross track error is used when course deviation is less than a definite value.Gao Jian, Xu Demin, tight health Et al.《Autonomous Underwater Vehicle returns depressed place path planning and tracing control》The same horizontal plane motion for being directed to UUV a, it is proposed that bag The Trajectory Tracking Control method of cascade system containing position tracking and course angle tracking.Tracked and controlled according to Backstepping design attitude Device processed, and ensure that track following control errors Global uniform asymptotic stability.But it is mostly in the prior art research UUV water surface Trajectory Tracking Control problem, the track following problem for three dimensions is typically also to be designed based on Backstepping, And mathematical complexity is high.
The content of the invention
It is an object of the invention to provide a kind of control accuracy is high, the sky of UUV kinematics and dynamic disturbance can compensate for Between Trajectory Tracking Control method.
The present invention is achieved by the following scheme：
The space tracking tracking and controlling method of a kind of compensation UUV kinematics and dynamic disturbance, including following steps,
Step one：Give the desired trajectory y of smooth boundedd；
Step 2：Inertial navigator, depth gauge, attitude transducer and the Doppler log collection UUV carried by UUV The posture information and velocity information at current time；
Wherein, posture information η=[x, y, z, θ, ψ]T, including length travel x, lateral displacement y, vertical deviation z, pitch angle θ and yaw angle ψ；Velocity information includes direct drive velocity υ=[u, q, r]TWith indirect actuating speed vector w=[v, w ]T, including longitudinal velocity u, lateral velocity v, vertical velocity w, angular velocity in pitch q and yawing angular speed r；
Step 3：Choose the position of the virtual controlling point of UUV front ends；
Step 4：Track following error e is set up, processing is filtered to track following error e, filtered track is obtained Tracking error ef；
Step 5：Estimate UUV kinematics and dynamic disturbance F using two layers of RBF neural with l node (α), obtains UUV kinematics and dynamic disturbance an estimateUtilize filtered track following error efObtain god Through network self-adapting control law
Step 6：Restrained according to Neural Network Adaptive ControlObtain Trajectory Tracking Control signal τan, further held Row mechanism control signal τa=[τu,τq,τr]T, wherein τuIt is the longitudinal thrust that generation is promoted mainly by UUV, τqFor trim controling power Square, τrTo turn bow control moment；
Step 7：Judge whether the position of the virtual controlling point of UUV front ends reaches the terminal of given desired trajectory, if It is then to terminate operation；Otherwise return to step two.
The space tracking tracking and controlling method of a kind of compensation UUV kinematics of the present invention and dynamic disturbance, can also include：
1st, the position of the virtual controlling point of described UUV front ends is,
Wherein,It is constant normal number, represents virtual controlling point PLThe distance between with UUV barycenter COM.
2nd, described track following error e is：
E=y-yd,
Processing is filtered to track following error e, filtered track following error e is obtainedf：
Wherein, Q1For gain matrix, k1And k2For adjustability coefficients.
3rd, described Neural Network Adaptive Control ruleProcess of asking for be,
(1) using two layers of RBF neural with l node, the kinematics and dynamics of the UUV after being estimated are done Disturb item
Wherein, α=[η, υ, w, τan]T,W is the adjustable parameter matrix of neutral net, ξ (α)=[ξ1(α), .., ξl(α)T] it is Base Function vector, ξi(α) is Gaussian function：
Wherein, μi=[μi1,μi2,...μin]TAnd βiIt is center and the width of Gaussian function respectively, vectorial α and W belong to respectively In compacting U and Ω,Wherein, M1And M2It is parameter；
ρ*=ε (α)+ρ, ε (α) are the error of neutral net, error | | ε (α) | |≤Bε, BεIt is given threshold value；Interference matrix ρ boundeds | | ρ | |≤Bρ, BρFor given threshold value；τa=[τu,τq,τr]TFor actuating mechanism controls signal, inertia MatrixIt is inertial matrix M1The estimate of (η),m11,m55,m66Be UUV quality and Inertial parameter；
(2) filtered track following error e is utilizedfObtain Neural Network Adaptive Control rule
W and ρMRenewal rule be：
Wherein, threshold value ρM=Bε+Bρ, γWAnd γρFor adaptive gain, σWAnd σρFor normal number, KpFor gain.
4th, described Trajectory Tracking Control signal τanFor
Wherein,
Wherein, Jacobian matrix
5th, described UUV kinematics and dynamic disturbance include：Measuring instrument uncertainty interference, model parameter is not known Property interference, ocean current and sea wave disturbance, load dynamic disturbance.
6th, the position of the virtual controlling point of the UUV front ends and actuating mechanism controls signal τa=[τu,τq,τr]TRelation For,
In formula,For kinematics and the estimate of dynamic disturbance.
7th, the Optimal matrix of the adjustable parameter matrix W of the neutral net is：
The present invention has the advantages that：
The space tracking tracking and controlling method of a kind of compensation UUV kinematics of the present invention and dynamic disturbance, can be successfully Desired track in UUV tracking is controlled, tracing deviation is in a neighborhood for converge to zero crossings, and all closed Ring signal is bounded.The outstanding advantages of neutral net are to show smooth response.The present invention considers UUV track followings Measuring instrument uncertainty interference in control process, model parameter uncertainty interference, ocean current and sea wave disturbance and load power Influence of the interference to UUV control accuracies is learned, the disturbance of UUV kinematics and dynamics is approached using neutral net, being capable of effective compensation UUV kinematics and dynamics interference, improves Trajectory Tracking Control precision.The present invention is effectively filtered to track following error Ripple, using weighting dynamic filter mode, effectively reduces the risk of damp constraint to effect.
Figure of description
Fig. 1 is the adaptive Trajectory Tracking Control method flow diagram of UUV three dimensions of the present invention；
Fig. 2 is the position view of the virtual controlling point of UUV front ends；
Fig. 3 is UUV space tracking tracking results：Fig. 3 (a) XYZ tracking results；Fig. 3 (b) XY tracking results；Fig. 3 (c) YZ Tracking result.
Fig. 4 is filtered track following error e of the inventionf(t) filter effect figure, Fig. 4 (a) is letter after present invention filtering Number and original signal comparison diagram, Fig. 4 (b) for the present invention filtering after track following error ef(t) design sketch.
Embodiment
The present invention is described in further details below in conjunction with accompanying drawing.
A kind of adaptive Trajectory Tracking Control method of UUV three dimensions of the present invention, as shown in figure 1, including following step Suddenly：
Step one：Give the desired trajectory y of smooth boundedd(t)；
The present invention control targe be：A tracking is designed for there is the drive lacking UUV of kinematics and dynamics interference Control law, and cause tracking errorIt is uniform ultimate bounded in three dimensions.
Desired trajectory yd(t) and itsAll it is bounded, supt≥0||yd(t) | | ＜ Bdp, Wherein Bdp、BdvAnd BdaBorder constant.
Step 2：The sensor carried by UUV gathers current posture information and velocity information, and posture information η= [x, y, z, θ, ψ ,]TIncluding the surging x under earth coordinates, swaying y, heaving z, pitch angle θ and yaw angle ψ, velocity information bag Surging u, swaying v, heaving w, pitching q and the yawing speed r under hull coordinate system are included, direct drive velocity υ is designated as respectively =[u, q, r]TWith indirect actuating speed vector w=[v, w]T。
Drive lacking UUV 5DOF mathematical modeling is as follows：
Wherein, τu, τq, τrIt is the signal produced by executing agency, τwu(t), τwv(t), τww(t), τwq(t), It is the time-varying disturbance of bounded.miiIt is UUV quality and inertial parameter, diiIt is damped coefficient, i=1,2,3,5,6.ρ is watertight Degree, g is acceleration of gravity, and ▽ is the volume of water, GMLIt is high for longitudinal metancenter.
Kinematics model (1) can be expressed as below：
Wherein, υ=[u, q, r]TWith w=[v, w]TIt is the velocity redefined, the former is direct drive, the latter It can not directly drive.S (η) andIt is kinematics matrix and kinematics interference vector battle array, following institute respectively Show：
ROV directly drives the kinetic model of part：
Wherein τa=[τu,τq,τr]TFor control input vector.For inertial matrix,It is Coriolis Centripetal force,It is hydrodynamic damping matrix,It is gravity vector,It is to be drawn by wave, ocean current The disturbance risen.
ROV can not directly drive the kinetic model of part：
Wherein,
Wherein,It is Coriolis centripetal force,It is hydrodynamic damping matrix,It is to be drawn by wave, ocean current The disturbance risen.
Explanation：1) swaying of ROV and heaving speed are the sup of passive boundedt≥0||w(t)||≤Bw, BwIt is normal for border Number.
2) perturbation vectorWithBoundary be：||τw1(t)||≤λw11,Wherein λw11WithIt is normal number.
3) in order to avoid occurring singular point in stability analysis, defining the boundary of Angle of Trim is：|θ(t)|≤θmax＜ pi/2s.
Step 3：Choose the position of the virtual controlling point of UUV front ends；
Because main research UUV three-dimensional point tracing controls of the invention, x, y, the coordinate in z directions should be selected under earth coordinates 's.One simplified selection is the position of barycenter, is designated as COM, as shown in Figure 2.However, the advantage of this selection is：(1) base In UUV models set forth above, pitching and the disturbance in yawing direction will not be presented in the controller.(2) centroid position will not be by Pitching and the influence of yawing control input.Therefore, following change of variable is introduced, is included in the institute that all directions combine UUV power There are the free degree and all control inputs.
Choose the position of the virtual controlling point of UUV front ends：
Wherein,It is constant normal number, represents virtual controlling point PLThe distance between with UUV barycenter COM, as shown in Figure 2.
According to UUV current posture information and velocity information, build UUV front end virtual controlling points and believe with actuating mechanism controls Number τa=[τu,τq,τr]TRelation, i.e. UUV input/output model, detailed process is：
(1) UUV model states space representation
UUV kinematics models formula (3) and kinetic simulation pattern (5) are combined and obtain state-space representation form：
Wherein：
State variableIt will below carry out simplifying state-space model (9), and be controlled device design, Stability analysis.STATE FEEDBACK CONTROL is：
Wherein, τaIt is UUV control input, τanIt is a new control input,It is M1The approximation of (η).By public affairs Formula (11) is substituted into formula (9), and UUV state-space models are rewritten as：
Wherein, to put it more simply,F (x) and g (x) represent system it is smooth to Field is measured, q (x) represents kinematics and dynamical perturbation.
(2) UUV input/output model
Pass through UUV kinematics models and UUV output equations, it can be deduced that：
Wherein, LfH (x)=▽ hf, LgH (x)=▽ hg, LqH (x)=▽ hq, represents h respectively along vector f, g, q directions Derivative.▽ h are h gradient (derivative), Jδ(η is w) that input-output model corresponds to the part that kinematics model is disturbed.
Wherein, Jacobian matrixWith kinematics matrix S (η) in formula (4) on the contrary, J (η) for All θ,There is no singular point.Because formula (13) is not all related to actuating mechanism controls input, therefore again Once deform：
Wherein,ρ≤B can be obtainedρ。
Step 4：According to given desired trajectory ydSet up track following error e=y-yd。
Set up track following error e：
E=y-yd,
Processing is filtered to track following error e, filtered track following error is obtained：
Wherein,
Tanh () is hyperbolic tangent function, (xd,yd,zd) it is desired trajectory ydCoordinate, Q1For gain matrix, k1And k2 For adjustability coefficients,
Provide the desired trajectory of a smooth boundedDesired trajectory by open loop movement planner Provide.
Wherein, desired trajectory state vector state variableηdFor desired trajectory posture information, υd To expect path velocity information, τandFor the control input of desired trajectory.
Step 5：Estimate UUV kinematics and dynamic disturbance F using two layers of RBF neural with l node (α), the kinematics and dynamic disturbance of the UUV after being estimatedUtilize filtered track following error efObtain Neural Network Adaptive Control is restrainedIt can compensate for the UUV kinematics and dynamics interference after estimation
(1) using two layers of RBF neural with l node, the kinematics and dynamics of the UUV after being estimated are done Disturb item
Wherein, α=[η, υ, w, τan]T,W is the adjustable ginseng of neutral net Matrix number, ξ (α)=[ξ1(α),...,ξl(α)]TIt is Base Function vector, ξi(α) is Gaussian function：
Wherein, μi=[μi1,μi2,...μin]TAnd βiIt is center and the width of Gaussian function respectively, vectorial α and W belong to respectively In compacting U and Ω,Wherein, M1And M2It is parameter；
The Optimal matrix of the adjustable parameter matrix W of neutral net is：
ρ*=ε (α)+ρ, ε (α) are the error of neutral net, error | | ε (α) | |≤Bε, BεIt is given threshold value；Interference matrix ρ boundeds | | ρ | |≤Bρ, BρFor given threshold value；τa=[τu,τq,τr]TFor actuating mechanism controls signal, inertia MatrixIt is inertial matrix M1The estimate of (η),m11,m55,m66It is UUV quality And inertial parameter；
Consider UUV real systems, include the data acquisition of various sensors, medium physical attribute residing for space maneuver, together When with reference to UUV five degree of freedom mathematical modeling, the interference of suffered kinematics and dynamics includes in UUV motion processes：Measuring instrument Device uncertainty interference, model parameter uncertainty interference, ocean current and sea wave disturbance and load dynamic disturbance.
Measuring instrument uncertainty interference refers mainly to suffered noise jamming in measurement, and actual marine environment is complicated more Become, in addition the technological level limitation of component itself, measurement system will unavoidably be polluted by various noises.It is such as how general Strangle log and measure bottom tracking velocity or convection velocity using Doppler effect principle, if measurement process is by water The influence of scattering object, random error is introduced by the speed amount obtained to measurement.In this case, the rate signal belongs to non-flat Steady signal, its frequency time to time change.
When model parameter uncertainty interference refers mainly to set up UUV kinetic models, it is believed that hydrodynamic force coefficient is constant, is fixed Value, hydrodynamic force coefficient can be with the hydrodynamic force Xiang Ji of the change generation of motion state small perturbation, now correlation in practice An offset should be added in calculation value, reduced scale degree model investigation shows that the offset is not in the range of the section speed of a ship or plane in proportion Occupy an leading position, can be considered disturbance.
UUV is influenceed larger in the not high Layer Near The Sea Surface navigation of the speed of a ship or plane by ocean current, wave, and rate of flow of fluid is room and time One complicated function, changes with the change of waters, depth and time, the anti-current ability of controller is set as motion control One index of meter.
UUV under sail, when the load structure or shape being attached to change, shadow can be produced to UUV Mass Distributions Ring.
(2) filtered track following error e is utilizedfIt is controlled device design
Obtain Neural Network Adaptive Control rule
W and ρMRenewal rule be：
Wherein, threshold value ρM=Bε+Bρ, γWAnd γρFor adaptive gain, σWAnd σρFor normal number, KpFor gain；
Step 6：Restrained according to Neural Network Adaptive ControlObtain Trajectory Tracking Control signal τan,
Further obtain actuating mechanism controls signal τa=[τu,τq,τr]T, wherein τuIt is that the longitudinal direction for having UUV to promote mainly generation is pushed away Power, τqFor trim control moment, τrTo turn bow control moment；
Obtain following closed loop power error equations：
Wherein,It is width evaluated error.
Step 7：Judge whether the position of the virtual controlling point of UUV front ends reaches the terminal of given desired trajectory, if It is then to terminate operation；Otherwise return to step two.
In the present invention, λmax(·)(λmin()) it is defined as maximum (minimum) characteristic value of matrix.It is fixed Justice is vectorEuclid norm.The induced norm of matrix A isThe Frobenius of matrix A Norm is：Wherein tr { } represents to ask mark computing.Matrix InRepresent n dimension unit matrix.Also define with Lower symbol Tanh (x)=[tanh (x1),...,tanh(xn)]T, Sech2(x)=diag [sech2(x1),...,sech2(xn) ]T.Wherein diag [] represents diagonal matrix, and tanh () is hyperbolic tangent function, and sech ()=1/cosh () is hyperbolic Secant, cosh () is hyperbolic cosine function.
UUV kinematics and dynamic disturbance F (α)=d (α)+ρ in the present invention, can using the Property of Approximation of neutral net With approximate unknown function d (α)：
The error of neutral net：
Herein, W*It is W estimate, defines evaluated errorNonlinear uncertainty d is rewritten as： d(x) =W*ξ (x)+ε causes | | ε | |≤Bε.Therefore, formula (16) can be rewritten as：
Wherein, ρ*(t)=ε (t)+ρ (t) boundaryWherein
The validity of experimental verification the inventive method of the present invention is given below：
Add white Gaussian noise in the measurement that UUV is exported to model position measuring system using randn () functions. All emulation are completed all using time step is 20ms Euler's resolving Algorithm.UUV is configured with propeller to provide longitudinal direction Power, trim and yawing.For the actual UUV of use model, the model parameter used is：
m11=25kg, m22=17.5kg, m33=30kg, m55=22.5kgm2,m66=15kgm2,d11=30kgs-1, d22 =30kgs-1,d33=30kgs-1,d55=20kgm2s-1,d66=20kgm2s-1, ρ g ▽ GML=5.But, come in practice really The actual value of these fixed parameters is extremely difficult, therefore UUV is with parameter uncertainty.In addition, in the following manner Add environmental disturbances：
τw1(t)=0.5sgn (υ)+2 [sin (0.1t), sin (0.1t), sin (0.1t)]T
The selection of control parameter is as follows：Kp=10I3, Q=10I3,γp=1, σp=0.005, εt=1.Setting Control signal is that limit value is | τai|≤100Nm, i=1,2,3 model the saturated characteristic of executing agency.UUV's is first in experiment Beginning pose is x (0)=5m, y (0)=5m, z (0)=0m, θ (0)=0rad, ψ (0)=0rad.UUV reference locus yd(t) Produced by the movement planner of an open loop.The initial pose and control signal of reference locus are set to
X (0)=5m, y (0)=5m, z (0)=0m, θd(0)=0rad, ψd(0)=0rad, τad=[7.5,1.5,3]TNm。
In addition, using one have 6 implicit nodes (l=6), three output nodes RBF neural modeling and Approach UUV kinematics and dynamics interference.The parameter of RBF neural is γw=10, σw=0.04, μi=[- 3, -2, - 1,1,2,3]T,βi=10.W is 3 × 6 matrix that an initial value is 0.Fig. 3 gives the result of tracking, including UUV and ginseng Examine tri- trajectory diagrams of XYZ, XY and YZ of track.It can be seen that successfully desired track has been gone up in tracking to UUV, track Deviation is in a neighborhood for converge to zero crossings.And all closed signals are bounded.The protrusion of neutral net Advantage is to show smooth response.The control signal that the present invention is produced is all located within acceptable saturation limit value.Fig. 4 (a) For filtered signal of the present invention and the comparison diagram of original signal, it is seen that filter effect of the present invention is very good, track after present invention filtering Tracking error efSignal, wherein k1=0.1, k2=1.Contrast filtering signal function is in Fig. 4 (b)When Filter effect is very poor, without good wave filtering effect of the present invention.

Claims (8)

1. the space tracking tracking and controlling method of a kind of compensation UUV kinematics and dynamic disturbance, it is characterised in that：Including following Step,
Step one：Give the desired trajectory y of smooth boundedd；
Step 2：Inertial navigator, depth gauge, attitude transducer and the Doppler log collection UUV carried by UUV is current The posture information and velocity information at moment；
Wherein, posture information η=[x, y, z, θ, ψ]T, including length travel x, lateral displacement y, vertical deviation z, pitch angle θ and bow Cradle angle ψ；Velocity information includes direct drive velocity υ=[u, q, r]TWith indirect actuating speed vector w=[v, w]T, including Longitudinal velocity u, lateral velocity v, vertical velocity w, angular velocity in pitch q and yawing angular speed r；
Step 3：Choose the position of the virtual controlling point of UUV front ends；
Step 4：Track following error e is set up, processing is filtered to track following error e, filtered track following is obtained Error ef；
Step 5：Estimate UUV kinematics and dynamic disturbance F (α) using two layers of RBF neural with l node, obtain To UUV kinematics and dynamic disturbance an estimateUtilize filtered track following error efObtain neutral net Adaptive control laws
Step 6：Restrained according to Neural Network Adaptive ControlObtain Trajectory Tracking Control signal τan, further obtain execution machine Structure control signal τa=[τu,τq,τr]T, wherein τuIt is the longitudinal thrust that generation is promoted mainly by UUV, τqFor trim control moment, τrFor Turn bow control moment；
Step 7：Judge whether the position of the virtual controlling point of UUV front ends reaches the terminal of given desired trajectory, if it is, Terminate operation；Otherwise return to step two.
2. the space tracking tracking and controlling method of a kind of compensation UUV kinematics according to claim 1 and dynamic disturbance, It is characterized in that：The position of the virtual controlling point of described UUV front ends is,
Wherein,It is constant normal number, represents virtual controlling point PLThe distance between with UUV barycenter.
3. the space tracking tracking and controlling method of a kind of compensation UUV kinematics according to claim 2 and dynamic disturbance, It is characterized in that：Described track following error e is：
E=y-yd,
Processing is filtered to track following error e, filtered track following error e is obtainedf：
<mrow> <msub> <mi>e</mi> <mi>f</mi> </msub> <mo>=</mo> <mo>-</mo> <mfrac> <mn>1</mn> <mn>2</mn> </mfrac> <mover> <mi>e</mi> <mo>&amp;CenterDot;</mo> </mover> <mo>+</mo> <msub> <mi>k</mi> <mn>1</mn> </msub> <msub> <mi>Q</mi> <mn>1</mn> </msub> <mi>T</mi> <mi>a</mi> <mi>n</mi> <mi>h</mi> <mrow> <mo>(</mo> <mi>e</mi> <mo>)</mo> </mrow> <mo>+</mo> <msub> <mi>k</mi> <mn>2</mn> </msub> <mi>e</mi> </mrow>
Wherein, Q1For gain matrix, k1And k2For adjustability coefficients.
4. the space tracking tracking and controlling method of a kind of compensation UUV kinematics according to claim 3 and dynamic disturbance, It is characterized in that：Described Neural Network Adaptive Control ruleProcess of asking for be,
(1) using two layers of RBF neural with l node, the kinematics and dynamic disturbance of the UUV after being estimated
Wherein, α=[η, υ, w, τan]T,W is the adjustable parameter matrix of neutral net, ξ (α) =[ξ1(α),...,ξl(α)T] it is Base Function vector, ξi(α) is Gaussian function：
<mrow> <msub> <mi>&amp;xi;</mi> <mi>i</mi> </msub> <mrow> <mo>(</mo> <mi>&amp;alpha;</mi> <mo>)</mo> </mrow> <mo>=</mo> <mi>exp</mi> <mrow> <mo>(</mo> <mo>-</mo> <mfrac> <mrow> <mo>|</mo> <mo>|</mo> <mi>&amp;alpha;</mi> <mo>-</mo> <msub> <mi>&amp;mu;</mi> <mi>i</mi> </msub> <mo>|</mo> <msup> <mo>|</mo> <mn>2</mn> </msup> </mrow> <msubsup> <mi>&amp;beta;</mi> <mi>i</mi> <mn>2</mn> </msubsup> </mfrac> <mo>)</mo> </mrow> <mo>,</mo> <mi>i</mi> <mo>=</mo> <mn>1</mn> <mo>,</mo> <mn>2</mn> <mo>,</mo> <mo>...</mo> <mi>l</mi> </mrow>
Wherein, μi=[μi1,μi2,...μin]TAnd βiIt is center and the width of Gaussian function respectively, vectorial α and W are belonging respectively to tightly Collect U and Ω,Wherein, M1And M2It is parameter；
ρ*=ε (α)+ρ, ε (α) are the error of neutral net, error | | ε (α) | |≤Bε, BεIt is given threshold value；Interference matrix ρ has Boundary | | ρ | |≤Bρ, BρFor given threshold value；τa=[τu,τq,τr]TFor actuating mechanism controls signal, inertial matrixIt is inertial matrix M1The estimate of (η),m11,m55,m66It is UUV quality and inertia Parameter；
(2) filtered track following error e is utilizedfObtain Neural Network Adaptive Control rule
W and ρMRenewal rule be：
<mrow> <mover> <mi>W</mi> <mo>&amp;CenterDot;</mo> </mover> <mo>=</mo> <msub> <mi>&amp;gamma;</mi> <mi>W</mi> </msub> <msub> <mi>e</mi> <mi>f</mi> </msub> <msup> <mi>&amp;xi;</mi> <mi>T</mi> </msup> <mrow> <mo>(</mo> <mi>&amp;alpha;</mi> <mo>)</mo> </mrow> <mo>-</mo> <msub> <mi>&amp;sigma;</mi> <mi>W</mi> </msub> <msub> <mi>&amp;gamma;</mi> <mi>W</mi> </msub> <mi>W</mi> </mrow>
<mrow> <msub> <mover> <mi>&amp;rho;</mi> <mo>&amp;CenterDot;</mo> </mover> <mi>M</mi> </msub> <mo>=</mo> <msub> <mi>&amp;gamma;</mi> <mi>&amp;rho;</mi> </msub> <mo>|</mo> <mo>|</mo> <msub> <mi>e</mi> <mi>f</mi> </msub> <mo>|</mo> <mo>|</mo> <mo>-</mo> <msub> <mi>&amp;gamma;</mi> <mi>&amp;rho;</mi> </msub> <msub> <mi>&amp;sigma;</mi> <mi>&amp;rho;</mi> </msub> <msub> <mi>&amp;rho;</mi> <mi>M</mi> </msub> </mrow>
Wherein, threshold value ρM=Bε+Bρ, γWAnd γρFor adaptive gain, σWAnd σρFor normal number, KpFor gain.
5. the space tracking tracking and controlling method of a kind of compensation UUV kinematics according to claim 4 and dynamic disturbance, It is characterized in that：The Optimal matrix of the adjustable parameter matrix W of the neutral net is：
<mrow> <msup> <mi>W</mi> <mo>*</mo> </msup> <mo>=</mo> <mi>arg</mi> <munder> <mrow> <mi>m</mi> <mi>i</mi> <mi>n</mi> </mrow> <mrow> <mi>W</mi> <mo>&amp;Element;</mo> <mi>&amp;Omega;</mi> </mrow> </munder> <mo>{</mo> <munder> <mrow> <mi>s</mi> <mi>u</mi> <mi>p</mi> </mrow> <mrow> <mi>&amp;alpha;</mi> <mo>&amp;Element;</mo> <mi>U</mi> </mrow> </munder> <mo>|</mo> <mi>&amp;epsiv;</mi> <mrow> <mo>(</mo> <mi>&amp;alpha;</mi> <mo>)</mo> </mrow> <mo>|</mo> <mo>}</mo> <mo>.</mo> </mrow>
6. the space tracking tracking and controlling method of a kind of compensation UUV kinematics according to claim 5 and dynamic disturbance, It is characterized in that：Described Trajectory Tracking Control signal τanFor
Wherein,
<mrow> <mi>S</mi> <mrow> <mo>(</mo> <mi>&amp;eta;</mi> <mo>)</mo> </mrow> <mo>=</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mrow> <mi>cos</mi> <mrow> <mo>(</mo> <mi>&amp;psi;</mi> <mo>)</mo> </mrow> <mi>cos</mi> <mrow> <mo>(</mo> <mi>&amp;theta;</mi> <mo>)</mo> </mrow> </mrow> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mrow> <mi>sin</mi> <mrow> <mo>(</mo> <mi>&amp;psi;</mi> <mo>)</mo> </mrow> <mi>cos</mi> <mrow> <mo>(</mo> <mi>&amp;theta;</mi> <mo>)</mo> </mrow> </mrow> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mrow> <mo>-</mo> <mi>sin</mi> <mrow> <mo>(</mo> <mi>&amp;theta;</mi> <mo>)</mo> </mrow> </mrow> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mn>1</mn> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mfrac> <mn>1</mn> <mrow> <mi>cos</mi> <mrow> <mo>(</mo> <mi>&amp;theta;</mi> <mo>)</mo> </mrow> </mrow> </mfrac> </mtd> </mtr> </mtable> </mfenced> <mo>,</mo> </mrow>
Wherein, Jacobian matrix
7. the space tracking tracking and controlling method of a kind of compensation UUV kinematics according to claim 7 and dynamic disturbance, It is characterized in that：The position of the virtual controlling point of UUV front ends and actuating mechanism controls signal τa=[τu,τq,τr]TRelation be,
<mrow> <mover> <mi>y</mi> <mo>&amp;CenterDot;&amp;CenterDot;</mo> </mover> <mo>=</mo> <mo>&amp;part;</mo> <mrow> <mo>(</mo> <mi>J</mi> <mo>(</mo> <mi>&amp;eta;</mi> <mo>)</mo> <mi>&amp;upsi;</mi> <mo>)</mo> </mrow> <mo>/</mo> <mo>&amp;part;</mo> <mi>&amp;eta;</mi> <mi>S</mi> <mrow> <mo>(</mo> <mi>&amp;eta;</mi> <mo>)</mo> </mrow> <mi>&amp;upsi;</mi> <mo>+</mo> <mi>J</mi> <mrow> <mo>(</mo> <mi>&amp;eta;</mi> <mo>)</mo> </mrow> <msub> <mi>&amp;tau;</mi> <mrow> <mi>a</mi> <mi>n</mi> </mrow> </msub> <mo>+</mo> <mover> <mi>F</mi> <mo>^</mo> </mover> <mrow> <mo>(</mo> <mi>&amp;alpha;</mi> <mo>)</mo> </mrow> </mrow>
<mrow> <msub> <mi>&amp;tau;</mi> <mi>a</mi> </msub> <mo>=</mo> <msub> <mover> <mi>M</mi> <mo>^</mo> </mover> <mn>1</mn> </msub> <mrow> <mo>(</mo> <mi>&amp;eta;</mi> <mo>)</mo> </mrow> <msub> <mi>&amp;tau;</mi> <mrow> <mi>a</mi> <mi>n</mi> </mrow> </msub> </mrow>
In formula,For kinematics and the estimate of dynamic disturbance.
8. the space tracking tracking and controlling method of a kind of compensation UUV kinematics according to claim 6 and dynamic disturbance, It is characterized in that：Described UUV kinematics and dynamic disturbance include：Measuring instrument uncertainty interference, model parameter is not true Qualitative interference, ocean current and sea wave disturbance, load dynamic disturbance.
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