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

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

刘昌鑫¹,
高剑^1,2, ,,
徐德民^1,2

1.
西北工业大学航海学院, 西安 710072;
2.
水下信息处理与控制国家重点实验室, 西安 710075

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

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- 文章访问数: 261
- HTML全文浏览量: 37
- PDF下载量: 28
- 被引次数: 0
出版历程
- 收稿日期: 2016-07-01
- 刊出日期: 2017-11-05

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

Liu Changxin¹,
Gao Jian^{1,2
, ,},
Xu Demin^1,2

1.
School of Marine Science and Technology, Northwestern Polytechnical University, Xi'an 710072, China;
2.
Key Labrotory of Underwater Information Processing and Control, Xi'an 710075, China

摘要

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。
- 自主水下航行器 /
- 欠驱动 /
- 路径跟踪 /
- 非线性模型预测控制
Abstract: The constrained path following problem for an underactuated autonomous underwater vehicle（AUV) is investigated with nonlinear model predictive control（MPC) in this paper. The second order derivative of the path parameter is used as a virtual input to control the evolution of the desired path, and the dynamics of the path is utilized for prediction. Then a constrained path following controller is derived by using the nonlinear MPC technique. By solving the constrained optimization problems in a receding horizon fashion, the control input satisfying the constraints is obtained. Finally, simulation studies with circle path following using the REMUS AUV model are performed and the results demonstrate that the proposed controller is effective and can handle constraints explicitly.
- autonomous underwater vehicles /
- underactuated /
- path following /
- nonlinear model predictive control

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参考文献(14)

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