基于MPC导引律的AUV路径跟踪和避障控制

姚绪梁; 王晓伟

doi:10.13700/j.bh.1001-5965.2019.0413

基于MPC导引律的AUV路径跟踪和避障控制

doi: 10.13700/j.bh.1001-5965.2019.0413

姚绪梁¹,
王晓伟^{1, 2, ,}

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

基金项目:

国家自然科学基金 51279039

详细信息

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

通讯作者:
王晓伟, E-mail:627382854@qq.com

中图分类号: U675.5⁺5;V249.122⁺.3
计量
- 文章访问数: 1267
- HTML全文浏览量: 213
- PDF下载量: 254
- 被引次数: 0
出版历程
- 收稿日期: 2019-07-26
- 录用日期: 2019-11-01
- 网络出版日期: 2020-06-20

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

YAO Xuliang¹,
WANG Xiaowei^{1, 2
, ,}

1.
College of Automation, Harbin Engineering University, Harbin 150001, China
2.
School of Mechanical Engineering, Jiujiang Vocational and Technical College, Jiujiang 332007, China

Funds:

National Natural Science Foundation of China 51279039

More Information

Corresponding author: WANG Xiaowei, E-mail:627382854@qq.com

摘要

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。
- 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.
- Autonomous Underwater Vehicle (AUV) /
- path following /
- obstacle avoidance /
- Model Predictive Control (MPC) /
- Sliding Mode Control (SMC)

HTML全文

图 1 欠驱动AUV三维直线路径跟踪示意图

Figure 1. Schematic diagram of underactuated AUV 3D straight path following

下载: 全尺寸图片幻灯片

图 2 路径跟踪和避障仿真结果

Figure 2. Simulation results of path following and obstacle avoidance

下载: 全尺寸图片幻灯片

图 3 路径跟踪误差曲线

Figure 3. Path following error curves

下载: 全尺寸图片幻灯片

图 4 控制输入曲线

Figure 4. Control input curves

下载: 全尺寸图片幻灯片

图 5 速度曲线

Figure 5. Speed curves

下载: 全尺寸图片幻灯片

图 6 鲁棒项系数和滑模函数曲线

Figure 6. Robust term coefficients and sliding mode function curves

下载: 全尺寸图片幻灯片

表 1 路径点

Table 1. Waypoints m

序号	ξ	η	ζ
1	10	0	0
2	10	25	3
3	-40	25	9
4	-40	-25	15
5	10	-25	21
6	60	-25	21
7	110	25	21
8	135	25	21
9	135	-25	21
10	85	-25	21

下载: 导出CSV

参考文献(18)

[1]	LEKKAS A M, FOSSEN T I.Minimization of cross-track and along-track errors for path tracking of marine underactuated vehicles[C]//2014 European Control Conference(ECC).Piscataway: IEEE Press, 2014: 3004-3010.
[2]	LEKKAS A M, FOSSEN T I.A time-varying lookahead distance guidance law for path following[J].IFAC Proceedings Volumes, 2012, 45(27):398-403. doi: 10.3182/20120919-3-IT-2046.00068
[3]	陈霄, 刘忠, 张建强, 等.基于改进积分视线导引策略的欠驱动无人水面艇路径跟踪[J].北京航空航天大学学报, 2018, 44(3):489-499. doi: 10.13700/j.bh.1001-5965.2017.0192 CHEN X, LIU Z, ZHANG J Q, et al.Path following of underactuated USV based on modified integral line-of-sight guidance strategies[J].Journal of Beijing University of Aeronautics and Astronautics, 2018, 44(3):489-499(in Chinese). doi: 10.13700/j.bh.1001-5965.2017.0192
[4]	XU H, SOARES C G.Vector field path following for surface marine vessel and parameter identification based on LS-SVM[J].Ocean Engineering, 2016, 113:151-161. doi: 10.1016/j.oceaneng.2015.12.037
[5]	FOSSEN T I, PETTERSEN K Y, GALEAZZI R.Line-of-sight path following for dubins paths with adaptive sideslip compensation of drift forces[J].IEEE Transactions on Control Systems Technology, 2015, 23(2):820-827. doi: 10.1109/TCST.2014.2338354
[6]	CAHARIJA W, PETTERSEN K Y, SØRENSEN A J, et al.Relative velocity control and integral line of sight for path following of autonomous surface vessels:Merging intuition with theory[J].Proceedings of the Institution of Mechanical Engineers, Part M:Journal of Engineering for the Maritime Environment, 2014, 228(2):180-191. doi: 10.1177/1475090213512293
[7]	FOSSEN T I, LEKKAS A M.Direct and indirect adaptive integral line-of-sight path-following controllers for marine craft exposed to ocean currents[J].International Journal of Adaptive Control and Signal Processing, 2017, 31(4):445-463. doi: 10.1002/acs.2550
[8]	李娟, 边信黔, 熊华胜, 等.AUV的精确航迹跟踪系统的鲁棒控制[J].哈尔滨工业大学学报, 2013, 45(1):112-117. http://d.old.wanfangdata.com.cn/Periodical/hebgydxxb201301021 LI J, BIAN X Q, XIONG H S, et al.Robust control research for AUV trajectory control system[J].Journal of Harbin Institute of Technology, 2013, 45(1):112-117(in Chinese). http://d.old.wanfangdata.com.cn/Periodical/hebgydxxb201301021
[9]	YAN Z P, YU H M, ZHANG W, et al.Globally finite-time stable tracking control of underactuated UUVs[J].Ocean Engineering, 2015, 107:132-146. doi: 10.1016/j.oceaneng.2015.07.039
[10]	潘永平, 黄道平, 孙宗海.欠驱动船舶航迹Backstepping自适应模糊控制[J].控制理论与应用, 2011, 28(7):907-914. http://www.cnki.com.cn/Article/CJFDTotal-KZLY201107005.htm PAN Y P, HUANG D P, SUN Z H.Backstepping adaptive fuzzy control for track-keeping of underactuated surface vessels[J].Control Theory & Applications, 2011, 28(7):907-914(in Chinese). http://www.cnki.com.cn/Article/CJFDTotal-KZLY201107005.htm
[11]	LIU C, ZOU Z J, YIN J C.Trajectory tracking of underactuated surface vessels based on neural network and hierarchical sliding mode[J].Journal of Marine Science and Technology, 2015, 20:322-330. doi: 10.1007/s00773-014-0285-y
[12]	OH S R, SUN J.Path following of underactuated marine surface vessels using line-of-sight based model predictive control[J].Ocean Engineering, 2010, 37(2-3):289-295. doi: 10.1016/j.oceaneng.2009.10.004
[13]	YAO X L, YANG G Y, PENG Y.Nonlinear reduced-order observer-based predictive control for diving of an autonomous underwater vehicle[J].Discrete Dynamics in Nature and Society, 2017:4394571. http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=5c2ca5bd6e2bd055e1bdb696f9e54b40
[14]	ZHENG Z W, FEROSKHAN M.Path following of a surface vessel with prescribed performance in the presence of input saturation and external disturbances[J].IEEE/ASME Transactions on Mechatronics, 2017, 22(6):2564-2575. doi: 10.1109/TMECH.2017.2756110
[15]	MOE S, PETTERSEN K Y.Set-based line-of-sight (LOS) path following with collision avoidance for underactuated unmanned surface vessel[C]//IEEE Mediterranean Conference on Control & Automation.Piscataway: IEEE Press, 2016: 402-409.
[16]	SHIM T, ADIREDDY G, YUAN H L.Autonomous vehicle collision avoidance system using path planning and model-predictive-control-based active front steering and wheel torque control[J].Proceedings of the Institution of Mechanical Engineers, Part D:Journal of Automobile Engineering, 2012, 226(D6):767-778. http://d.old.wanfangdata.com.cn/NSTLQK/NSTL_QKJJ0231353825/
[17]	PRESTERO T.Verification of a six-degree of freedom simulation model for the REMUS autonomous underwater vehicle[D].Cambridge: Massachusetts Institute of Technology, 2001: 12-112.
[18]	段斐.微小型水下机器人运动仿真研究[D].哈尔滨: 哈尔滨工程大学, 2012: 11-80. DUAN F.Research on motion simulation for mini autonomous underwater vehicle[D].Harbin: Harbin Engineering University, 2012: 11-80(in Chinese).