基于模型预测控制的自主水下航行器模糊回坞导引算法

Fuzzy docking guidance algorithm based on model predictive control for an autonomous underwater vehicle

为了解决自主水下航行器(AUV)的水平面自主回收问题,提出了一种基于模型预测控制(MPC)的模糊回坞导引算法。AUV的回坞导引过程被分为两个阶段,分别是回坞准备阶段和回坞阶段。在回坞准备阶段中,航路点导引AUV向着回收站方向运动;而回坞阶段利用模型预测控制在线求解最优的控制输入导引AUV进入回收站。使用模糊控制理论设计回坞导引系统,利用期望的方向矢量场和模糊规则给出期望的航向角。采用REMUS AUV的模型参数进行MATLAB仿真,仿真表明,基于MPC的模糊回坞导引算法是有效的。AUV能够较快地到达回收站,回坞误差为0.12m。

To solve the autonomous docking problem of the AUV,the fuzzy docking guidance method based on model predictive control is proposed.The whole docking process is divided into the preparation stage and the homing stage.In the homing preparation stage,the waypoint guidance algorithm is used to drive the AUV to reach the homing waypoint in front of the docking station.In the homing stage,model predictive docking controller(MPC)is designed to generate input constraints and solve the optimal control inputs.Fuzzy control theory is used to design the homing guidance system,using the desired direction vector field and fuzzy rules to give the desired heading angle.The model parameters of REMUS AUV are used for MATLAB simulation.The simulation results show that the fuzzy docking guidance algorithm based on MPC is effective.AUV can reach the docking station quickly,and the docking error is 0.12 m.