| Citation: | YAO Xuliang, WANG Xiaowei. Path following and obstacle avoidance control of AUV based on MPC guidance law[J]. Journal of Beijing University of Aeronautics and Astronautics, 2020, 46(6): 1053-1062. doi: 10.13700/j.bh.1001-5965.2019.0413(in Chinese)
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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.
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