【摘要】 文中采用模型预测控制的方法,研究有输入约束的欠驱动自主水下航行器(AUV)的直线路径跟踪控制问题。前人多采用简化的线性系统模型,文中分别采用线性模型预测控制、线性时变模型预测控制和非线性模型预测控制3种算法对非线性系统进行研究,得出这些算法的性能对比。仿真结果表明,无论哪一种模型预测控制算法都可以在满足系统约束的条件下实现AUV的直线跟踪,且非线性模型预测控制的快速性和稳定性均优于线性模型预测控制。因此,模型预测控制算法具有较强的可靠性及鲁棒性。更多还原

【Abstract】 To apply the model predictive control method to linear tracking control of underactuated autonomous underwater vehicle(AUV) with input constraint, three model predictive control algorithms, i.e., the linear model predictive control(LMPC) algorithm, the linear time-varying model predictive control(LTV-MPC) algorithm, and the nonlinear model predictive control(NMPC) algorithm, are respectively applied to the nonlinear system, and the performances of these algorithms are analyzed and compared. Simulation results show that all three model predictive control algorithms can achieve straight line tracking of AUV under the condition of satisfying the system constraints, NMPC and LTV-MPC are superior to LMPC in control rapidity and stability, and NMPC is better than LTV-MPC. Therefore, the model predictive control algorithm has strong robustness and reliability.更多还原