基于MPC导引律的AUV路径跟踪和避障控制  

Path following and obstacle avoidance control of AUV based on MPC guidance law

作　　者：姚绪梁[1] 王晓伟[1,2] YAO Xuliang;WANG Xiaowei(College of Automation,Harbin Engineering University,Harbin 150001,China;School of Mechanical Engineering,Jiujiang Vocational and Technical College,Jiujiang 332007,China)

机构地区：[1]哈尔滨工程大学自动化学院,哈尔滨150001 [2]九江职业技术学院机械工程学院,九江332007

出　　处：《北京航空航天大学学报》2020年第6期1053-1062,共10页Journal of Beijing University of Aeronautics and Astronautics

基　　金：国家自然科学基金(51279039)。

摘　　要：针对欠驱动自主水下航行器(AUV)的三维直线路径跟踪和避障控制,基于级联控制策略设计了运动学和动力学控制器。首先,在设计运动学控制器时考虑了纵倾和艏摇角速度存在的约束,应用模型预测控制(MPC)设计了最优导引律。然后,考虑了推进器转速和舵角的饱和,应用滑模控制(SMC)技术设计了动力学控制器,从而保证了系统的鲁棒性。最后,通过仿真实验与基于视线法(LOS)导引律的传统控制方法进行了对比。仿真结果表明:所提方法不仅可以改善欠驱动AUV对三维直线路径的跟踪效果,而且可以有效减少舵角的饱和现象。In order to realize the three-dimensional straight path following and obstacle avoidance control of underactuated Autonomous Underwater Vehicle(AUV), a new control method including kinematic and dynamic controller is presented based on cascade control strategy. First, the constraints of pitch and yaw angular velocities are considered in the design of kinematic controller, and the optimal guidance law is designed by using Model Predictive Control(MPC). Then, the rotation speed of thruster and the saturation of rudder angle are considered in the design of dynamic controller, and the dynamic controller is designed based on the Sliding Mode Control(SMC) technology to ensure the robustness of the system. Finally, the performance of the proposed control algorithm is compared with the performance of traditional control method based on Line-Of-Sight(LOS) guidance law by simulation experiment. The simulation results demonstrate that the proposed algorithm can not only improve the three-dimensional straight path tracking effect of underactuated AUV, but also reduce the saturation of rudder angle effectively.

关 键 词：自主水下航行器(AUV) 路径跟踪 避障 模型预测控制(MPC) 滑模控制(SMC) 

分 类 号：U675.55[交通运输工程—船舶及航道工程] V249.122.3[交通运输工程—船舶与海洋工程]