机械科学与技术2017，Vol.36Issue(11)：1653-1657,5.DOI:10.13433/j.cnki.1003-8728.2017.1103
一种欠驱动AUV模型预测路径跟踪控制方法
A Model Predictive Path Following Control Method for Underactuated Autonomous Underwater Vehicles
摘要
Abstract
The constrained path following problem for an underactuated autonomous underwater vehicle (AUV) is investigated with nonlinear model predictive control (MPC) in this paper.The second order derivative of the path parameter is used as a virtual input to control the evolution of the desired path,and the dynamics of the path is utilized for prediction.Then a constrained path following controller is derived by using the nonlinear MPC technique.By solving the constrained optimization problems in a receding horizon fashion,the control input satisfying the constraints is obtained.Finally,simulation studies with circle path following using the REMUS AUV model are performed and the results demonstrate that the proposed controller is effective and can handle constraints explicitly.关键词
自主水下航行器/欠驱动/路径跟踪/非线性模型预测控制Key words
autonomous underwater vehicles/underactuated/path following/nonlinear model predictive control分类
信息技术与安全科学引用本文复制引用
刘昌鑫,高剑,徐德民..一种欠驱动AUV模型预测路径跟踪控制方法[J].机械科学与技术,2017,36(11):1653-1657,5.基金项目
国家自然科学基金项目(51279164)资助 （51279164）
