Research on motion control of underactuated AUV based on dynamic matrix method
In order to solve the control problem of underactuated autonomous underwater vehicle(AUV)during navig-ation and improve its ability to resist external interference,a new controller is designed.The controller takes the dynamic matrix control(DMC)method in the model predictive control strategy as the main loop controller.The purpose is to make AUV obtain good tracking ability through the characteristics of model prediction and feedback correction.In addition,the secondary loop controller adopts the incremental PID control method with high frequency.By optimizing the model predic-tion vector and designing the model control parameters,the internal loop controller with good response speed is finally ob-tained.Its role is to quickly suppress sudden disturbances.Finally,this controller is applied to the simulation experiment of AUV heading and depth.Through simulation experiments,it is verified that the controller can not only meet the control re-quirements of AUV,but also has good robustness in the face of external time-varying interference.
autonomous underwater vehicledynamic matrix controlPIDcascade control
万方数据
维普
