AUV平面直线航迹跟踪控制算法

针对自主水下航行器（AUV）在平面直线航迹跟踪过程中的航迹超调问题，设计基于航向航速双闭环运动控制的航迹跟踪控制算法.跟踪算法以视线导引法（LOS）为基础，设计时变前视距离提高AUV的机动性，并以一阶惯性滤波抑制因航向切换产生期望航向角的阶跃变化.控制算法采用抗积分饱和PID控制及参数自适应，以增加算法的鲁棒性，并将航向航速控制设计成双闭环，使得AUV航行时期望航迹段终点的距离偏差实时调整期望航速.结果表明，此航迹跟踪控制算法根据距离偏差调节实时航速，可使AUV提前减速以低速转向，抗积分饱和可避免航速超调，参数自适应以适应多种航行工况. AUV能准确跟踪期望航迹，最大航迹偏差小于1.0 m，并且大角度转向时可有效减小航迹超调.

Straight-line path tracking control algorithm of AUV planar motion

A path tracking control algorithm based on the dual closed-loop motion control of heading and speed was designed to solve the overshoot of autonomous underwater vehicles (AUV) in the plane straight-line path tracking problem. The tracking algorithm followed the line-of-sight (LOS) guidance law. The design of the time-varying forward-looking distance was selected to increase the maneuverability of AUV. The first-order inertial filter was used to suppress the step change of the expected heading angle. The control algorithm adopted anti-integral saturation PID control and the parameter self-adaptation were adopted to increase the robustness of the control algorithm. The heading and speed control was designed as a double closed-loop to adjust the AUV speed according to the distance deviation from the end of the desired path. The results show that the path tracking control algorithm adjusts the real-time speed according to the distance deviation, which makes the AUV decelerate in advance and turns at low speed, the anti-integral saturation avoids the speed overshoot and the parameter is adaptive for the variety of condition. The AUV accurately tracks the desired path with a maximum deviation of less than 1.0 m and the tracking overshoot effectively reduces at large turning angles.