哈尔滨工程大学学报2025，Vol.46Issue(4)：634-642,9.DOI:10.11990/jheu.202311001
带有扰动观测模型预测控制的水下无人航行器对接控制
Unmanned underwater vehicle docking control with disturbance observation based on model predictive control
摘要
Abstract
Aiming to achieve the recovery of an unmanned underwater vehicle(UUV),the dynamic docking prob-lem is converted into a pose synchronization control problem between the UUV and the mother ship.In the presence of external disturbances during the dynamic docking of the UUV with the mother ship,a nonlinear model predictive control scheme with a disturbance observer was designed.Disturbances,which are either constant or change slowly relative to the inertial system,are added to the five-degree-of-freedom model of the UUV.These disturbances are estimated using a nonlinear disturbance observer and input into the model prediction to enhance the robustness of the controller.Optimal control is then obtained by solving a nonlinear optimization problem,allowing the UUV to maintain the same posture as the mother ship and complete the docking process.The proposed controller effectively resists external disturbances,improving the control precision of the docking task.关键词
水下无人航行器/动态对接/位姿同步控制/外界扰动/估计/鲁棒性/非线性模型预测控制/非线性扰动观测器/非线性优化问题/最优控制Key words
unmanned underwater vehicle/dynamic docking/pose synchronization control problem/external dis-turbance/estimated/robustness/nonlinear model predictive control/nonlinear disturbance observer/nonlinear op-timization problem/optimal control分类
信息技术与安全科学引用本文复制引用
张伟,王强,吴奇阳,郑岩,杜雪..带有扰动观测模型预测控制的水下无人航行器对接控制[J].哈尔滨工程大学学报,2025,46(4):634-642,9.基金项目
国家自然科学基金项目(E1102/52071108,62101156). （E1102/52071108,62101156）
