基于模型预测控制的仿生海豚路径跟踪研究  

Path tracking research of bionic dolphin based on MPC

作　　者：付乐乐 陈宏[1] 叶镇豪 巩伟杰 何莉 FU Lele;CHEN Hong;YE Zhenhao;GONG Weijie;HE Li(College of Mechatronics and Control Engineering,Shenzhen University,Shenzhen 518061,China)

机构地区：[1]深圳大学机电与控制工程学院,广东深圳518061

出　　处：《传感器与微系统》2024年第3期31-34,共4页Transducer and Microsystem Technologies

基　　金：深圳市科技计划资助项目(JCYJ20220818095816035)。

摘　　要：针对水下路径跟踪问题,研究了基于模型预测控制(MPC)的仿生海豚跟踪控制。在误差模型线性化基础上引入MPC,使仿生海豚在满足控制约束的条件下有效地完成路径跟踪,且克服了反步控制算法的速度跳变,超限问题。并建立海流模型,针对有无海流干扰影响情况,进行路径跟踪分析,仿真与实验表明,不同环境下其提出的跟踪算法均有效可行。Aiming at problem of underwater path tracking,the tracking control of bionic dolphin based on model predictive control(MPC)is studied.MPC is introduced on the basis of error model linearization,so that the bionic dolphin can effectively complete path tracking under the condition of satisfying control constraints.It also overcomes the speed jump and over limit problems of backstepping control algorithm.The current model is established,and the path tracking analysis is carried out for the presence or absence of current interference.Simulation and experiment show that the proposed tracking algorithm is effective and feasible in different environments.

关 键 词：仿生海豚 模型预测控制 路径跟踪 反步控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]