多约束模型预测控制在AUV深度控制中的应用

Application research of multi-constrained model predictive control in AUV depth control

针对AUV深度控制,提出深度偏差转换为指令纵倾的算法,基于拉盖尔网络逼近的模型预测控制理论,设计了舵角舵速硬约束和纵倾软约束条件下的纵倾运动模型预测控制器。仿真结果表明,该控制方法具有良好的动态控制性能,并可快速处理多种约束条件的二次规划问题。

An algorithm that converts depth deviation into command pitch is proposed aiming at AUV depth control.Based on the model predictive control theory of Laguerre network approximation, the model predictive control of pitch motion under the conditions of hard constraints of rudder angle, rudder speed and soft constraints of pitch is designed. The simulation results indicate that the control method has good dynamic control performance, and can quickly handle the quadratic programming problems with a variety of constraints.