Magnetic detection of underdriven USV track adaptive tracking in complex marine environment control algorithm research

Abstract

In marine magnetic detection, in order to improve the accuracy of the measurement data of the field, to consider the impact of the storm interference environment, and to design a weakly driven USV tracking control system, it is necessary to drive the USV in a complex marine environment to determine the accuracy and stability of tracking. First, a 3-degrees of freedom mathematical model is built and decoupled by virtue of coordinate transformation to rely only on the absolute geographic velocity. Second, the variable forward-looking distance integral line-of-sight method is used to design the guidance law and stabilize the course tracking error. Moreover, sliding mode control is adopted to design the heading and velocity virtual control law and stabilize the heading angle and longitudinal velocity errors. Third, an adaptive observer is designed by introducing tracking errors to estimate the interference. The algorithm effectively improves the accuracy and reduces the oscillation during convergence. In the end, theoretical analysis and simulation experiments are carried out to confirm whether the proposed method is effective and advanced.