A Reach Set MPC Scheme for the Cooperative Control of Autonomous Underwater Vehicles
A Reach Set MPC Scheme for the Cooperative Control of Autonomous Underwater Vehicles
复制标题
自主水下航行器协同控制的Reach Set MPC方案
DOI：
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发表时间：
2017
期刊：
影响因子：
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通讯作者：
F. Pereira
中科院分区：
文献类型：
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作者：
Ricardo Gomes;F. Pereira
讨论了一种基于模型预测控制（MPC）的水下机器人协调控制体系结构，解决了水下机器人在水下环境中的协调控制问题。在水下环境中，水下机器人不仅面临着水声通信和扰动的巨大挑战，而且还面临着另外两类重要的问题：（i）障碍物的意外出现，（ii）严重的机载计算约束。后一方面讨论了一种新的实现的MPC计划的到达集MPC，其基本的正式框架简要概述。最后给出了一些仿真结果。
A Model Predictive Control (MPC) based architecture is discussed to address the problem of the coordinated control of Autonomous Underwater Vehicles in an environment in which not only the acoustic communications and perturbations impose formidable challenges but also other two important classes of issues are considered: (i) unexpected emergence of obstacles, and (ii) severe onboard computation constraints. The later aspect is discussed by a novel implementation of the MPC scheme the Reach Set MPC whose underlying formal framework is briefly outlined. Finally some simulation results are presented.