基于模型预测控制的UUV路径跟踪控制研究  

Research on UUV path tracking control based on model predictive control

作　　者：张伟[1] 郁晨曦 滕延斌 魏世琳 

机构地区：[1]哈尔滨工程大学自动化学院,哈尔滨150001

出　　处：《仪器仪表学报》2017年第11期2659-2666,共8页Chinese Journal of Scientific Instrument

基　　金：国家自然科学基金(51309067)项目资助

摘　　要：水下无人航行器(UUV)的路径跟踪控制是实现UUV多种军、民用途的重要技术基础。针对UUV路径跟踪控制中的欠驱动、非完整约束、模型的非线性,基于非线性连续模型预测控制算法设计了UUV垂直面路径跟踪控制器。建立了垂直面运动模型并基于状态空间模型给出了垂直面预测模型,通过给定性能指标,运用泰勒级数展开与李导数求解出了连续时间状态下的最优控制律,实现了欠驱动UUV路径跟踪控制。通过仿真实验,验证了垂直面路径跟踪控制器设计的有效性。The unmanned underwater vehicle （UUV） path tracking control provides the important technical foundation for various civilian and military applications of UUV. Aiming at the underactuation, non-holonomic constraint and model nonlinearity in the path tracking control of UUV, an UUV vertical path tracking controller is designed based on the nonlinear continuous model predictive control algorithm. The vertical motion model of UUV is established, and the prediction model of UUV system is given based on state space model. According to the given performance index, the Taylor series expansion and Lie derivative are used to solve the optimal control law under the continuous time state, the underactuated UUV vertical path tracking control is achieved. A simulation experiment was carried out, the result proves the effectiveness of the design of the vertical path tracking controller.

关 键 词：水下无人航行器 欠驱动 模型预测控制 路径跟踪 李导数 

分 类 号：TH701[机械工程—仪器科学与技术]