水下机器人广义预测控制算法及能耗问题研究

摘要

For an autonomous underwater vehicle(AUV), we adopt the variations of outputs as the system optimization objective and propose a generalized predictive control(GPC) algorithm for rejecting the fluctuations caused by various noises and reducing the energy consumption. Experiments of online control of the yaw velocity on an AUV show that it is effective to reduce the energy consumption while meeting the required performance indices.%对水下机器人,本文把输出量的变化作为系统优化目标,提出了一种广义预测控制算法,使其能够抑制各种噪声引起的输出波动,从而减少了系统的能量消耗.水下机器人艏向速度在线控制水池实验的结果验证了在满足设定控制指标的条件下能够抑制水下机器人艏向速度波动和减少能量消耗.