A Robust Reach Set MPC Scheme for Control of AUVs
A Robust Reach Set MPC Scheme for Control of AUVs
复制标题
一种用于控制 AUV 的鲁棒 Reach Set MPC 方案
DOI：
10.1007/978-3-319-70836-2_18
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发表时间：
2017
期刊：
影响因子：
--
通讯作者：
F. Pereira
中科院分区：
文献类型：
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作者：
Rui M. F. Gomes;F. Pereira
提出并讨论了一种用于自主水下航行器编队控制的鲁棒模型预测控制方案。这一应用领域非常相关，并呈现出非常困难的控制挑战：(I)缓慢、低数据速率的水声通信，(Ii)水动力环境固有的重大扰动，(Iii)意外出现的障碍物，以及(Iv)严重的船上计算限制。虽然后一个方面由REACH集合MPC方案实现来讨论，其通过尽可能多地考虑不变数据来最大化先验离线计算，但是通过考虑多个中间步骤来提高所提出的基本MPC方案的稳健性来解决其他挑战，尽管增加了在线计算负担，但这仍然显著低于与典型标准MPC方案相关联的步骤。
A Robust Model Predictive Control (MPC) scheme for the control of formations of Autonomous Underwater Vehicles (AUVs) is presented and discussed. This application domain is extremely relevant and exhibits very difficult control challenges: (i) slow, low data-rate acoustic communications, (ii) significant perturbations inherent to the hydrodynamic environment, (iii) unexpected emergence of obstacles, and (iv) severe onboard computation constraints. While the later aspect is discussed by the Reach Set MPC scheme implementation which maximizes the a priori off-line computation as enabled by taking into account, as much as possible, invariant data, the other challenges are addressed by increasing the robustness of the proposed basic MPC scheme by considering a number of intermediate steps which, in spite of the increase of the on-line computational burden, this remains strongly lower than the one associated with typical standard MPC schemes.