中国海洋大学学报（自然科学版）2025，Vol.55Issue(7)：163-176,14.DOI:10.16441/j.cnki.hdxb.20240004
基于视觉伺服的可重构海洋浮体定相对位姿鲁棒模型预测控制
Robust Model Predictive Control of Reconfigurable Marine Floating Body with Determined Relative Pose Based on Visual Servoing
摘要
Abstract
To address the collaborative control problem of reconfigurable marine floating body in envi-ronments with weak/rejected GPS signals and insufficient perception,a robust nonlinear model predic-tive Control(NMPC)scheme based on determined relative pose(DRP)visual servoing is proposed.The main difficulties to be tackled lies in the existence of various disturbances and high nonlinearity of marine floating body dynamics as well as the strong visibility constraints of PTZ camera mounted on the vessel.Therefore,the yaw and camera pan tilt angle information are selected as system states of DRP model.Thereby,the uniqueness of the relative pose of the marine floating body duo is ensured with visual ser-voing.Then,the system model of image based visual servoing(IBVS)is established by integrating the marine floating body dynamics and DRP model.The robust NMPC strategy is proposed to steer the ma-rine floating body to form desired forms in environment with external disturbances.The collaborative control of multiple marine floating body is realized by controlling marine floating body solely relying on visual information.The visual servoing based controller can deal with the nonlinear dynamics and physi-cal constraints.The effectiveness of the strategy is verified through extensive numerical simulation.关键词
预测控制/信息物理系统/图像的视觉伺服(IBVS)/定相对位姿视觉伺服模型/可重构海洋浮体Key words
predictive control/cyber-physical system/image based visual servoing(IBVS)/deter-mined relative pose(DRP)visual servoing model/reconfigurable marine floating body分类
计算机与自动化引用本文复制引用
石冉博,付东飞,王继龙..基于视觉伺服的可重构海洋浮体定相对位姿鲁棒模型预测控制[J].中国海洋大学学报（自然科学版）,2025,55(7):163-176,14.基金项目
山东省自然科学基金项目(ZR2022MF280)资助Supported by the Natural Science Foundation of Shandong Province(ZR2022MF280) （ZR2022MF280）
