基于LTVMPC的自主水下航行器动态定位

2021 5th CAA International Conference on Vehicular Control and Intelligence (CVCI) Pub Date : 2021-10-29 DOI:10.1109/CVCI54083.2021.9661196

Yuheng Chen, Yougang Bian, Qingjia Cui, Lisheng Dong, Biao Xu, Manjiang Hu

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引用次数: 1

摘要

自主水下航行器(auv)在对抗洋流的动态定位任务中需要保持方向和位置。然后，提出了一种结合线性时变模型预测控制(LTVMPC)和积分滑模控制(ISMC)的动态定位控制器。LTVMPC用于考虑输入和输出约束的最优控制，ISMC用于抑制外部干扰，提高鲁棒性。最后，通过与非线性MPC (NMPC)和无ISMC的LTVMPC进行比较，验证了所提出的动态定位控制器的性能。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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LTVMPC for Dynamic Positioning of An Autonomous Underwater Vehicle

Autonomous Underwater Vehicles (AUVs) need to keep the orientation and position in a dynamic positioning task against ocean currents. Then, a dynamic positioning controller combining linear time-varying model predictive control (LTVMPC) and integral sliding mode control (ISMC) is proposed. The LTVMPC is used to achieve optimal control considering input and output constraints, while the ISMC is adopted to reject external disturbances to improve robustness. Finally, numerical simulations validate the performance of the proposed dynamic positioning controller through a comparison with nonlinear MPC (NMPC) and LTVMPC without ISMC.

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2021 5th CAA International Conference on Vehicular Control and Intelligence (CVCI)

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