Trajectory Tracking Control Method for AUV Planar MotionBased on Three-Level Hierarchical Speed Regulation

Autonomous undersea vehicle(AUV) often encounter the problem of track overshoot when moving underwater. To address this issue, this paper proposed a cooperative control strategy that integrated the adaptive line-of-sight guidance algorithm and the three-level hierarchical speed control architecture....

Full description

Saved in:
Bibliographic Details
Published in水下无人系统学报 Vol. 33; no. 3; pp. 441 - 449
Main Authors Haonan SUN, Lei WANG
Format Journal Article
LanguageChinese
Published Science Press (China) 01.06.2025
Subjects
autonomous undersea vehicle
line of sight guidance method
speed control
trajectory tracking
Online AccessGet full text

Cover

More Information
Summary:Autonomous undersea vehicle(AUV) often encounter the problem of track overshoot when moving underwater. To address this issue, this paper proposed a cooperative control strategy that integrated the adaptive line-of-sight guidance algorithm and the three-level hierarchical speed control architecture. In this study, the distance parameter at the end of the track was introduced into the control decision, and the dynamic allocation of the speed was achieved through a three-level hierarchical control strategy. The simulation results verify the effectiveness of the dynamic speed regulation mechanism based on the three-level hierarchical control strategy. By calculating the distance deviation between the AUV and the end of the expected track section in real time, the controller can actively implement the hierarchical deceleration strategy before the large curvature turning requirement is triggered, thereby effectively suppressing the trajectory offset phenomenon caused by momentum accumulation. Compared with the hea
ISSN:2096-3920
DOI:10.11993/j.issn.2096-3920.2025-0029