北京航空航天大学学报 ›› 2020, Vol. 46 ›› Issue (6): 1053-1062.doi: 10.13700/j.bh.1001-5965.2019.0413

• 论文 • 上一篇    下一篇

基于MPC导引律的AUV路径跟踪和避障控制

姚绪梁1, 王晓伟1,2   

  1. 1. 哈尔滨工程大学 自动化学院, 哈尔滨 150001;
    2. 九江职业技术学院 机械工程学院, 九江 332007
  • 收稿日期:2019-07-26 发布日期:2020-07-02
  • 通讯作者: 王晓伟 E-mail:627382854@qq.com
  • 作者简介:姚绪梁 男,博士,教授,博士生导师。主要研究方向:船舶控制、电力电子与电气传动;王晓伟 男,博士研究生,讲师。主要研究方向:现代控制理论及应用、水下机器人运动控制。
  • 基金资助:
    国家自然科学基金(51279039)

Path following and obstacle avoidance control of AUV based on MPC guidance law

YAO Xuliang1, WANG Xiaowei1,2   

  1. 1. College of Automation, Harbin Engineering University, Harbin 150001, China;
    2. School of Mechanical Engineering, Jiujiang Vocational and Technical College, Jiujiang 332007, China
  • Received:2019-07-26 Published:2020-07-02
  • Supported by:
    National Natural Science Foundation of China (51279039)

摘要: 针对欠驱动自主水下航行器(AUV)的三维直线路径跟踪和避障控制,基于级联控制策略设计了运动学和动力学控制器。首先,在设计运动学控制器时考虑了纵倾和艏摇角速度存在的约束,应用模型预测控制(MPC)设计了最优导引律。然后,考虑了推进器转速和舵角的饱和,应用滑模控制(SMC)技术设计了动力学控制器,从而保证了系统的鲁棒性。最后,通过仿真实验与基于视线法(LOS)导引律的传统控制方法进行了对比。仿真结果表明:所提方法不仅可以改善欠驱动AUV对三维直线路径的跟踪效果,而且可以有效减少舵角的饱和现象。

关键词: 自主水下航行器(AUV), 路径跟踪, 避障, 模型预测控制(MPC), 滑模控制(SMC)

Abstract: In order to realize the three-dimensional straight path following and obstacle avoidance control of underactuated Autonomous Underwater Vehicle (AUV), a new control method including kinematic and dynamic controller is presented based on cascade control strategy. First, the constraints of pitch and yaw angular velocities are considered in the design of kinematic controller, and the optimal guidance law is designed by using Model Predictive Control (MPC). Then, the rotation speed of thruster and the saturation of rudder angle are considered in the design of dynamic controller, and the dynamic controller is designed based on the Sliding Mode Control (SMC) technology to ensure the robustness of the system. Finally, the performance of the proposed control algorithm is compared with the performance of traditional control method based on Line-Of-Sight (LOS) guidance law by simulation experiment. The simulation results demonstrate that the proposed algorithm can not only improve the three-dimensional straight path tracking effect of underactuated AUV, but also reduce the saturation of rudder angle effectively.

Key words: Autonomous Underwater Vehicle (AUV), path following, obstacle avoidance, Model Predictive Control (MPC), Sliding Mode Control (SMC)

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