A Trajectory Tracking Method using Dynamic Sliding Mode Control with Parameter Optimization for Autonomous Underwater Vehicles

摘要

Autonomous underwater vehicles (AUVs) must be able to track a particular trajectory when performing various tasks. Sometimes, the widely used control method in actual marine engineering, the proportional integral derivative (PID) control method cannot meet the accuracy requirements of AUVs' trajectory tracking. In this paper, a dynamic surface sliding mode controller for trajectory tracking is designed. A nonlinear disturbance observer is used to compensate for environmental interference, and an improved particle swarm optimization with dynamic inertia weight is applied to optimize the control parameter. Simulation experiments are based on the mathematical model of an underwater robot BLUEROV2, and the control and optimization algorithms are designed.