Exploration on Path Tracking Method of Special Underwater Vehicles

Special underwater robots play an important role in military strategy and marine energy exploitation. Aiming at the complex underwater environment and the influence of uncertain factors, the research on path tracking technology of special underwater robots have great difficulties and challenges. The traditional active disturbance rejection control (ADRC) method is particularly suitable for the uncertain state. But the parameters of the ADRC are not well optimized, it is difficult to obtain the ideal tracking control effect when it performs path tracking. This paper focuses on the optimization characteristics of the enhanced fireworks algorithm (EFWA) and applies it to the control parameter optimization of ADRC. Taking the special underwater robot fish as the research object, the error model of path tracking is established, and its parameters of the traditional ADRC controller are optimized by the enhanced fireworks algorithm in this paper. So, its forward and steer controller of robot fish is controlled in this paper. The results of simulation show that special underwater robots based on the novel EFWA-ADRC has strong robustness and high path tracking accuracy in the path tracking process.