Underwater unmanned ship trajectory tracking guidance strategy making method

The invention discloses a method for formulating a trajectory tracking guidance strategy of an underwater unmanned ship, which comprises the following steps of: converting a trajectory tracking control process into a speed control and course control process by adopting a projection vertical guidance method, and establishing an unmanned ship virtual control law for the speed, course and depth of the underwater unmanned ship by adopting a sliding mode controller. As the underwater unmanned ship is easily disturbed by external environment interference and model parameters in the trajectory tracking process, a disturbance observer is adopted to estimate disturbance, and the disturbance is fed back to controller design to optimize the virtual control law of the underwater unmanned ship. And according to the optimized virtual control law of the underwater unmanned ship, trajectory tracking guidance of the underwater unmanned ship is better realized. 本发明公开了一种水下无人艇轨迹跟踪制导策略的制定方法，通过采用投影垂直制导方法，将轨迹跟踪控制过程转化为速度控制和航向控制过程，并采