基于NMPC的欠驱动AUV三维路径跟踪控制避障研究  

NMPC-based 3D path-following obstacle avoidance control for underactuated AUVs

作　　者：余明裕 姜国洪 宫会彬 王思琪 YU Mingyu;JIANG Guohong;GONG Huibin;WANG Siqi(School of Marine Electrical Engineering,Dalian Maritime University,Dalian 116026,China;Frequency Conversion Technology Institute,AUX Group Limited,Ningbo 315191,China)

机构地区：[1]大连海事大学船舶电气工程学院,辽宁大连116026 [2]奥克斯集团有限公司变频技术研究所,浙江宁波315191

出　　处：《舰船科学技术》2025年第5期82-88,共7页Ship Science and Technology

基　　金：中央高校基本科研业务费专项资金项目(3132019344);大连海事大学领军人物项目(00253007)。

摘　　要：针对欠驱动自主水下航行器在跟踪路径上存在障碍物、控制输入存在约束、以及外部环境扰动和动力学模型均未知的条件下的三维路径跟踪问题,提出一种具有避障功能的非线性模型预测控制(NMPC)方法。首先,在传统视线制导策略中引入基于路径偏差的自适应制导纵荡速度,并在此基础上加入改进的人工势场制导方案,使用势场合力来计算避障航向角。然后,设计有限时间扩张状态观测器对未知动力学模型和环境扰动组成的总扰动进行估计。最后,利用总扰动的估计值重构动力学模型,完成基于NMPC三维路径跟踪控制器设计。结果表明,本文提出的控制方法能够完成对三维轨迹的跟踪并有效躲避障碍物。研究成果可为AUV的水下探测作业提供一定参考。Addressing the three-dimensional path-following problem of underactuated autonomous underwater vehicles(AUV)in the presence of obstacles along the tracking path,constrained control inputs,and unknown external environmental disturbances and dynamics models,a nonlinear model predictive control(NMPC)method with obstacle avoidance capability is proposed.Initially,an adaptive guidance longitudinal oscillation velocity based on path deviation is introduced into the tra-ditional line-of-sight guidance strategy.Building upon this,an enhanced artificial potential field guidance scheme is incor-porated to calculate the avoidance heading angle using the resultant force from the potential field.Subsequently,a finite-time extended state observer is designed to estimate the total disturbance composed of unknown dynamics models and environ-mental disturbances.Finally,the estimated value of the total disturbance is utilized to reconstruct the dynamic model,com-pleting the design of the NMPC-based three-dimensional path-following controller.The results show that the effectiveness of the proposed control method in achieving three-dimensional path-following and effective obstacle avoidance is verified.The research results can provide some reference for AUV underwater exploration operations.

关 键 词：自主水下航行器 模型预测控制 路径跟踪 变速视线制导 有限时间扩张状态观测器 

分 类 号：U671.99[交通运输工程—船舶及航道工程]