一种欠驱动AUV模型预测路径跟踪控制方法  

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

作　　者：刘昌鑫[1] 高剑[1,2] 徐德民[1,2] 

机构地区：[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

出　　处：《机械科学与技术》2017年第11期1653-1657,共5页Mechanical Science and Technology for Aerospace Engineering

基　　金：国家自然科学基金项目(51279164)资助

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。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.

关 键 词：自主水下航行器 欠驱动 路径跟踪 非线性模型预测控制 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]