基于MPC-DO的自主水下航行器轨迹跟踪控制

MPC-DO based trajectory tracking control of autonomous underwater vehicle

针对欠驱动自主水下航行器在速度约束和未知外界环境干扰下的轨迹跟踪问题,提出一种基于模型预测控制算法和干扰观测器的复合控制方案。首先,基于模型预测控制算法设计一种考虑速度极限约束以及速度增量约束的轨迹跟踪运动学控制器。其次,针对海洋作业环境下存在的外界干扰,设计干扰观测器对其进行实时估计,并基于所设计的干扰观测器,设计精确跟踪期望速度的动力学控制器,并对控制方案进行了严格的理论分析。最后,进行数值仿真,仿真结果证实了该控制方案的有效性。

Aiming at the problem of trajectory tracking of underactuated autonomous underwater vehicle under speed constraints and unknown external disturbances,a model predictive control and disturbance observer-based compound control scheme is proposed.Firstly,based on the model predictive control algorithm,a trajectory tracking kinematics controller considering speed constraints and speed increment constraints is designed.Besides,For the external disturbance existing in the marine operation environment,a disturbance observer is designed to estimate the environmental disturbance in real time.Based on the results of the disturbance observer,a dynamic controller is designed to track the desired speed accurately,the rigorous theoretical analysis of the control scheme is details.Finally,the numerical simulation of the proposed control scheme is carried out,and the simulation results verify the effectiveness of the proposed control scheme.