AUV Trajectory Tracking Based on Nonlinear Model Predictive Control

被引：0
|
作者：
Yon, Zheping [1 ]
Gong, Peng [1 ]
Zhang, Wei [1 ]
Wu, Wenhua [1 ]
机构：
[1] Harbin Engn Univ, Coll Intelligent Syst Sci & Engn, Harbin 150001, Peoples R China
来源：
PROCEEDINGS OF THE 33RD CHINESE CONTROL AND DECISION CONFERENCE (CCDC 2021) | 2021年
基金：
中国国家自然科学基金;
关键词：
AUV; Trajectory Tracking; Nonlinear Model Predictive Control; VEHICLES;
D O I：
10.1109/CCDC52312.2021.9601902
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper focuses on the trajectory tracking of the autonomous underwater vehicle (AUV). To find a feasible method to reduce the computational burden, a model predictive control algorithm is designed. Firstly, the coupled nonlinear AUV models is convert into second-order affine forms using state feedback linearization method. Then, the original optimization problem is transformed into several subproblems. The amount of computation can be significantly reduced by solving the subproblems. In addition, the stability analysis based on Lyapunov method proves the nominal stability of the controllers. Finally, the effectiveness of the controller is verified by simulation experiments.
引用
收藏
页码：6055 / 6059
页数：5
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