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论文:2023,Vol:41,Issue(5):871-877 |
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引用本文： |
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郭琳钰, 高剑, 焦慧锋, 宋允轩, 陈依民, 潘光. 基于RBF神经网络的自主水下航行器模型预测路径跟踪控制[J]. 西北工业大学学报 |
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GUO Linyu, GAO Jian, JIAO Huifeng, SONG Yunxuan, CHEN Yimin, PAN Guang. Model predictive path following control of underwater vehicle based on RBF neural network[J]. Journal of Northwestern Polytechnical University |
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| 基于RBF神经网络的自主水下航行器模型预测路径跟踪控制 |
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| 郭琳钰1, 高剑1, 焦慧锋2,3, 宋允轩1, 陈依民1, 潘光1 |
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1. 西北工业大学 航海学院, 陕西 西安 710072;
2. 西北工业大学 无人系统技术研究院, 陕西 西安 710072;
3. 中国船舶科学研究中心, 江苏 无锡 214082 |
| 摘要: |
| 针对自主水下航行器(AUV)的模型不确定性和多约束的特点,设计了基于径向基(RBF)神经网络的模型预测控制器。在使用模型预测控制(MPC)进行路径跟踪控制的基础上,利用实时测量数据在线训练RBF神经网络,对AUV模型不确定性进行补偿,抑制了模型不确定性对模型预测控制器的干扰,减小了系统的超调量和跟踪误差。仿真结果表明,基于RBF-MPC路径跟踪控制算法与经典的MPC算法相比,具有更好的暂态和稳态性能。 |
| 关键词:
自主水下航行器
模型预测控制
径向基神经网络
路径跟踪控制
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| Model predictive path following control of underwater vehicle based on RBF neural network |
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| GUO Linyu1, GAO Jian1, JIAO Huifeng2,3, SONG Yunxuan1, CHEN Yimin1, PAN Guang1 |
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1. School of Marine Science and Technology, Northwestern Polytechnical University, Xi'an 710072, China;
2. Unmanned System Research Institute, Northwestern Polytechnical University, Xi'an 710072, China;
3. China Ship Scientific Research Center, Wuxi 214082, China |
| Abstract: |
| A model prediction controller (MPC) based on radial basis function (RBF) neural network is designed to counter the model uncertainty and multiple constraints of the autonomous underwater vehicle (AUV). On this basis of path following control with MPC, the RBF neural network is trained online with real-time measurement data to compensate for the AUV's model uncertainty, thus suppressing the interference of model uncertainty on the MPC and reducing its overshoot and tracking error. Simulation results show that the path following algorithm based on RBF-MPC has better transient and steady-state performance compared with the classical MPC algorithm. |
| Key words:
autonomous underwater vehicle
model predictive control
radial basis function neural network
path following
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| 收稿日期: 2022-07-13
修回日期:
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| DOI: 10.1051/jnwpu/20234150871 |
| 基金项目: 国家自然科学基金(51979228)资助 |
| 通讯作者: 高剑(1979—),西北工业大学教授,主要从事水下航行器路径规划与控制研究。e-mail:jiangao@nwpu.edu.cn
Email：jiangao@nwpu.edu.cn |
| 作者简介: 郭琳钰(1997—),西北工业大学博士研究生,主要从事水下机器人系统辨识与控制研究。
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| 作者相关文章 |
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| 郭琳钰 在本刊中的所有文章 |
| 高剑 在本刊中的所有文章 |
| 焦慧锋 在本刊中的所有文章 |
| 宋允轩 在本刊中的所有文章 |
| 陈依民 在本刊中的所有文章 |
| 潘光 在本刊中的所有文章 |
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相关文献: |
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1．高剑, 刘昌鑫.基于应答器位置测量的AUV非线性模型预测对接控制[J]. 西北工业大学学报, 2015,33(5): 860-866 |
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