Path-following control of an AUV using multi-objective model predictive control
Path-following control of an AUV using multi-objective model predictive control
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DOI：
10.1109/acc.2016.7526062
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发表时间：
2016-07
期刊：
影响因子：
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通讯作者：
Chao Shen;Yang Shi;B. Buckham
中科院分区：
文献类型：
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作者：
Chao Shen;Yang Shi;B. Buckham
研究了自主式水下航行器(AUV)的路径跟踪问题，将航行器的速度轮廓作为辅助任务。提出了一种多目标模型预测控制(MO-MPC)框架，试图适应PF中的优先任务。为了解决MO-MPC问题，我们采用了加权和方法，并引入了Logistic函数，该函数自动为每个目标函数选择合适的权重。庞特里亚金最小原则(PMP)随后被应用于实施。利用辨识的SAAB Seaye Falcon开式框架ROV/AUV的水动力系数进行了仿真，验证了所提出的MO-MPC路径跟踪控制的有效性。
The path-following (PF) problem of an autonomous underwater vehicle (AUV) is studied, in which the speed profile of the vehicle is taken into consideration as a secondary task. A multi-objective model predictive control (MO-MPC) framework is developed attempting to accommodate the prioritized tasks in PF. To solve the MO-MPC problem, we adopt the weighted sum method with the introduction of a logistic function that automatically selects the appropriate weights for each objective function. Pontryagin minimum principle (PMP) is subsequently applied for the implementation. Simulations using identified hydrodynamic coefficients of the Saab SeaEye Falcon open-frame ROV/AUV are carried out, which validates the effectiveness of the proposed MO-MPC path-following control.