Underwater vehicle trajectory tracking control method based on improved firefly algorithm optimization

The invention provides an underwater vehicle trajectory tracking control method based on improved firefly algorithm optimization. The method comprises the steps of: sliding mode control and improved firefly algorithm parameter optimization. According to the method, to-be-set parameters are used as the positions of fireflies in a solution space to form individual position information in a population; each individual is substituted into a controller; trajectory tracking of an autonomous underwater vehicle is controlled; a fitness function is made to be minimum through firefly optimization; the control precision and practicability of the controller are improved; the control precision and practicability of the controller are improved; and the requirement of online parameter reconstruction in the actual use process of the AUV according to needs is met. According to the method, the parameters do not need to be adjusted depending on artificial experience, the parameters are set in a self-adaptive mode through an int