一种欠驱动AUV模型预测路径跟踪控制方法

摘要

本文针对欠驱动自主水下航行器(AUV)的约束路径跟踪问题,设计了一种模型预测路径跟踪控制器.首先定义路径参数的二阶导数作为路径虚拟控制律,并将参考路径的模型扩展到AUV路径跟踪预测模型;然后采用非线性模型预测控制设计了欠驱动AUV的约束路径跟踪控制律,通过对约束优化问题的滚动求解,得到满足约束的扩展控制输入.最后采用REMUSAUV的模型参数对提出的控制律进行了仿真研究,结果说明了控制器在显式处理约束的同时,表现出良好的跟踪效果.%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.