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一种欠驱动AUV模型预测路径跟踪控制方法

刘昌鑫 高剑 徐德民

刘昌鑫, 高剑, 徐德民. 一种欠驱动AUV模型预测路径跟踪控制方法[J]. 机械科学与技术, 2017, 36(11): 1653-1657. doi: 10.13433/j.cnki.1003-8728.2017.1103
引用本文: 刘昌鑫, 高剑, 徐德民. 一种欠驱动AUV模型预测路径跟踪控制方法[J]. 机械科学与技术, 2017, 36(11): 1653-1657. doi: 10.13433/j.cnki.1003-8728.2017.1103
Liu Changxin, Gao Jian, Xu Demin. A Model Predictive Path Following Control Method for Underactuated Autonomous Underwater Vehicles[J]. Mechanical Science and Technology for Aerospace Engineering, 2017, 36(11): 1653-1657. doi: 10.13433/j.cnki.1003-8728.2017.1103
Citation: Liu Changxin, Gao Jian, Xu Demin. A Model Predictive Path Following Control Method for Underactuated Autonomous Underwater Vehicles[J]. Mechanical Science and Technology for Aerospace Engineering, 2017, 36(11): 1653-1657. doi: 10.13433/j.cnki.1003-8728.2017.1103

一种欠驱动AUV模型预测路径跟踪控制方法

doi: 10.13433/j.cnki.1003-8728.2017.1103
基金项目: 

国家自然科学基金项目(51279164)资助

详细信息
    作者简介:

    刘昌鑫(1991-),博士研究生,研究方向为鲁棒模型预测控制,liuchangxin@mail.nwpu.edu.cn

    通讯作者:

    高剑(联系人),副教授,硕士生导师,jiangao@nwpu.edu.cn

A Model Predictive Path Following Control Method for Underactuated Autonomous Underwater Vehicles

  • 摘要: 本文针对欠驱动自主水下航行器(AUV)的约束路径跟踪问题,设计了一种模型预测路径跟踪控制器。首先定义路径参数的二阶导数作为路径虚拟控制律,并将参考路径的模型扩展到AUV路径跟踪预测模型;然后采用非线性模型预测控制设计了欠驱动AUV的约束路径跟踪控制律,通过对约束优化问题的滚动求解,得到满足约束的扩展控制输入。最后采用REMUS AUV的模型参数对提出的控制律进行了仿真研究,结果说明了控制器在显式处理约束的同时,表现出良好的跟踪效果。
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出版历程
  • 收稿日期:  2016-07-01
  • 刊出日期:  2017-11-05

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