Research on Trajectory Tracking System for Autonomous Underwater Vehicles Based on Multi-Motor Cooperative Control

This paper presents a comprehensive trajectory tracking system for Autonomous Underwater Vehicles (AUVs) operating in complex marine environments, designed to enhance both operational efficiency and navigational accuracy. The study begins with an overview of AUVs, detailing their fundamental components, structural features, and key technical characteristics that determine underwater maneuverability. It then provides an in-depth analysis of multi-motor cooperative control technology, highlighting its critical role in coordinating multiple propulsion units to achieve stable and precise movement under varying hydrodynamic conditions. The core contribution of this research lies in the design and implementation of the trajectory tracking system, which integrates advanced sensor fusion methods, dynamic modeling techniques, and optimized hardware architecture for the trajectory tracking controller. Sensor fusion enables the system to combine data from multiple sources, improving the reliability of environmental perception, while dynamic modeling ensures accurate prediction and control of AUV motion. The hardware design emphasizes real-time processing capabilities and fault-tolerant operation, ensuring robustness under complex ocean conditions. Experimental results demonstrate that the integrated system significantly improves trajectory tracking precision, responsiveness, and operational stability, effectively reducing deviation errors and enhancing overall mission performance. These findings provide a strong technical foundation for further development and practical deployment of AUV technologies in scientific exploration, underwater monitoring, and industrial applications.