Method for controlling stabilizing of virtual anchoring water level area of under-actuated AUV and implementation method

The invention provides a method for controlling stabilizing of a virtual anchoring water level area of an under-actuated AUV and an implementation method. The control method includes the steps of establishing a horizontal motion equation of the under-actuated AUV; establishing equations of relative velocity and relative acceleration of the under-actuated AUV under environmental influences; establishing a mathematical model of virtual anchoring; using an improved static catenary equation to represent a horizontal component and using a Traube improved parabola method to solve the anchor chain tension of an underwater robot; dividing the horizontal component of the anchor chain tension according to the AUV's ship-associated coordinate system into a longitudinal force Fxm and a lateral force Fym and a bow turning torque Mm; distributing Fxm and Mm to a thruster to obtain thrust X and a bow turning torque N of a main thruster. The control method is not based on a model, and a carrier does not affect the control me