基于模型预测控制的欠驱动AUV直线路径跟踪

张广洁; 严卫生; 高 剑

doi:10.11993/j.issn.2096-3920.2017.01.009

基于模型预测控制的欠驱动AUV直线路径跟踪

doi: 10.11993/j.issn.2096-3920.2017.01.009

西北工业大学航海学院, 陕西西安, 710072

详细信息

作者简介:
张广洁(1994-), 女, 在读博士, 主要从事导航与制导技术研究.

中图分类号: TJ630.33
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出版历程
- 刊出日期: 2017-04-20

Straight Line Tracking of Underactuacted AUV Based on Model Predictive Control

School of Marine Science and Technology, Northwestern Polytechnical University, Xi′an 710072, China

摘要

摘要: 文中采用模型预测控制的方法, 研究有输入约束的欠驱动自主水下航行器(AUV)的直线路径跟踪控制问题。前人多采用简化的线性系统模型, 文中分别采用线性模型预测控制、线性时变模型预测控制和非线性模型预测控制3种算法对非线性系统进行研究, 得出这些算法的性能对比。仿真结果表明, 无论哪一种模型预测控制算法都可以在满足系统约束的条件下实现AUV的直线跟踪, 且非线性模型预测控制的快速性和稳定性均优于线性模型预测控制。因此, 模型预测控制算法具有较强的可靠性及鲁棒性。
- 自主水下航行器 /
- 欠驱动 /
- 直线跟踪 /
- 模型预测控制
Abstract: To apply the model predictive control method to linear tracking control of underactuated autonomous underwater vehicle(AUV) with input constraint, three model predictive control algorithms, i.e., the linear model predictive control(LMPC) algorithm, the linear time-varying model predictive control(LTV-MPC) algorithm, and the nonlinear model predictive control(NMPC) algorithm, are respectively applied to the nonlinear system, and the performances of these algorithms are analyzed and compared. Simulation results show that all three model predictive control algorithms can achieve straight line tracking of AUV under the condition of satisfying the system constraints, NMPC and LTV-MPC are superior to LMPC in control rapidity and stability, and NMPC is better than LTV-MPC. Therefore, the model predictive control algorithm has strong robustness and reliability.
- autonomous undersea vehicle(AUV) /
- underactuated /
- straight line tracking /
- model predictive control(MPC)

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参考文献(11)

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