Dynamic Positioning for Autonomous Underwater Vehicles: A Tube Model Predictive Control Approach

被引：0

作者：

Li, Jitao ^{[1
]}

Zhang, Wenhan ^{[2
]}

Guo, Bing ^{[1
]}

Yao, Feng ^{[1
]}

Zhang, Mingjun ^{[1
]}

Shao, Xiangyu ^{[3
]}

机构：

[1] Harbin Engn Univ, Coll Mech & Elect Engn, Harbin 150001, Peoples R China

[2] Shanghai Inst Astronaut Syst Engn, Shanghai 201109, Peoples R China

[3] Harbin Inst Technol, Sch Astronaut, Harbin 150001, Peoples R China

来源：

UNMANNED SYSTEMS | 2024年

基金：

中国国家自然科学基金;

关键词：

Dynamic positioning; autonomous underwater vehicle; tube model predictive control; linear programming; MPC;

D O I：

10.1142/S2301385025420014

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper proposes a novel tube model predictive control approach for dynamic positioning of autonomous underwater vehicles with state and input constraints. The cost function is selected as a mixture of weighted 1-norms and infinity-norms of states and inputs, which can be reconstructed into linear summation form. Specially, a method is presented to calculate the weighted matrix of the terminal cost so that closed-loop stability is achieved. The proposed control problem can be solved by linear programming, which provides high computational efficiency. Experimental results on "UVIC-I" AUV are conducted to validate the viability and validity of the presented method.

引用

页数：11

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