AUV Plane Track Tracking Control Algorithm Based on Three Closed Loops

Abstract In order to solve the possible track deviation problem of autonomous underwater vehicle (AUV) in the course of linear track tracking, we developed a velocity three closed loop motion control algorithm combined with distance information, which is specially used for track tracking. This algorithm is based on line-of-sight guidance strategy and introduces a time-varying forward-looking distance to enhance the flexibility and response speed of the AUV. In the design of the control algorithm, we integrate the advantages of PID control, fuzzy PID control and parameter adaptive adjustment, so as to improve the adaptability and robustness of the algorithm. In particular, we use a range three closed loop speed control strategy, which means that the AUV dynamically adjusts its desired speed during sailing based on the real-time distance deviation from the end of the desired track segment. With this design, the AUV is able to slow down ahead of time and make low-speed turns, when necessary, effectively avoiding excessive course Angle adjustment. In addition, the parameter adjustment mechanism in the algorithm enables it to flexibly cope with various navigation conditions. In the case of large Angle turns, the AUV can still accurately travel along the intended track, significantly reducing the phenomenon of track deviation.