基于NGPC的UUV路径跟随控制

针对水下无人潜航器（UUV）路径跟随问题,提出了一种基于模型的非线性反馈跟随控制方法.考虑UUV两输入、三输出的非线性跟随模型,选择与输出误差和控制误差相关的性能指标函数,利用基于最小化指标函数的非线性广义预测控制算法设计路径跟随器.针对UUV跟随模型简化后不确定性对路径跟随效果的影响,在控制闭合回路中提出了基于积分形式的水动力参数辨识方案,以减小路径跟随过程中规划路径和实际跟随路径之间的位置误差.最后,通过湖试验证了所提出方法的有效性.

NGPC-based path following control of UUV

A nonlinear feedback control algorithm based on model to solve path following of unnamed underwater vechicle(UUV) was proposed.Two-input,three-output nonlinear following model of UUV was considered.Nonlinear generalized predictive control(NGPC) was used to design path following controller by choosing NGPC cost function related to the errors of outputs and the errors of the control inputs.The minimization of NGPC cost function was the precondition of designing the controller.The parameter identification algorithm based on integeral form in the closed-loop was proposed to reduce the uncertainty of simplified following model by which position error between the reference path and the real path could be reduced.Experiments in the lake show the validity of the presented method.