Distributed dynamic rendezvous control of the AUV-USV joint system with practical disturbance compensations using model predictive control
Distributed dynamic rendezvous control of the AUV-USV joint system with practical disturbance compensations using model predictive control
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DOI：
10.1016/j.oceaneng.2022.111268
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发表时间：
2022-08
影响因子：
5
通讯作者：
Zehua Jia;Haibo Lu;Shengquan Li;Weidong Zhang
中科院分区：
文献类型：
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作者：
Zehua Jia;Haibo Lu;Shengquan Li;Weidong Zhang
针对存在未知外部干扰的AUV-USV异质关节系统，采用非线性模型预测控制方法研究了其分布式动态交会控制问题。通过利用非线性模型预测控制框架，可以解决交会问题，而无需构建显式的异构系统的误差动态。还可以以直观的方式同时考虑输入和状态约束，例如空间和速度约束。为了便于分布式实现，分布式优化问题与纳入移动抑制，然后构建，以保证名义稳定性。在考虑未知外部扰动的情况下，提出了一种实用的扰动补偿方法，保证了系统满足状态约束。本文证明了标称递归的可行性和稳定性。与现有的工作相比，所提出的方案提高了两个异构机器人之间的动态交会的适用性和对外部干扰的鲁棒性。仿真和比较表明了该方法的有效性和优越性。
This paper addresses the distributed dynamic rendezvous control problem of the AUV-USV heterogeneous joint system in the presence of unknown external disturbances using nonlinear model predictive control. By utilizing the nonlinear model predictive control framework, the rendezvous problem can be solved without constructing explicit error dynamics of the heterogeneous system. The inputs and states constraints such as spatial and velocity constraints can also be considered simultaneously in an intuitive way. To facilitate distributed implementations, distributed optimization problems with incorporated moving suppression are then constructed to guarantee nominal stability. Considering unknown external disturbances, a practical disturbance compensating method is finally proposed, ensuring the satisfaction of state constraints. The nominal recursive feasibility and stability are proved in this paper. Compared with existing works, the proposed scheme improves the applicability and robustness against external disturbances for dynamic rendezvous between two heterogeneous robots. Simulations and comparisons are conducted to demonstrate the effectiveness and advantages of the proposed method.