MPC-DO based trajectory tracking control of autonomous underwater vehicle
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 con-trol 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.
model predictive controlautonomous underwater vehicledisturbance observertrajectory tracking
万方数据
维普
