Robust Control of Manned Submersible Vehicle With Nonlinear MPC and Disturbance Observer  

作　　者：Qiuxin Zhong Xing Fang Zhengtao Ding Fei Liu 

机构地区：[1]the Key Laboratory of Advanced Process Control for Light Industry of the Ministry of Education,Jiangnan University,Wuxi 214122,China [2]the Department of Electrical and Electronic Engineering,University of Manchester,Manchester M139PL,UK

出　　处：《IEEE/CAA Journal of Automatica Sinica》2023年第5期1349-1351,共3页自动化学报（英文版）

基　　金：supported by the National Natural Science Foundation of China(62273165);the China Postdoctoral Science Foundation(2021M702505);the 111 Project(B23008)。

摘　　要：Dear Editor,This letter focuses on the trajectory tracking of 7000 m JIAOLONG manned submersible vehicle(MSV)with disturbances.The robust controller is realized by a composite control law,where an analytical nonlinear model predictive control(MPC)component is proposed to meet the requirements on tracking performance.

关 键 词：NONLINEAR LETTER LAW 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] U674.941[自动化与计算机技术—控制科学与工程] U664.82[交通运输工程—船舶及航道工程]