%0 Journal Article
%T 基于应答器位置测量的AUV非线性模型预测对接控制<br>Nonlinear Model Predictive Docking Control for an AUV with USBL Position Measurements
%A 高剑
%A 刘昌鑫
%J 西北工业大学学报
%D 2015
%X 针对搭载超短基线(USBL)声学定位系统的全驱动自主水下航行器(AUV)的自主回坞控制问题,提出一种基于应答器位置测量的回坞预测控制算法。首先用体坐标系下的应答器位置测量定义回坞对接误差,基于Jacobian矩阵描述应答器位置测量与AUV速度之间的运动学关系,建立非线性对接误差模型。采用非线性模型预测控制求解对接控制问题,产生航行器速度指令。然后设计自适应速度控制器实现对速度指令的全局渐近跟踪。最后采用REMUS AUV的模型参数进行了仿真研究,结果验证了方法的有效性。<br>The docking control problem is investigated for a fully-actuated autonomous underwater vehicle (AUV) equipped with an inverted ultra-short baseline (USBL) positioning system. A novel docking control strategy is proposed, in which the docking error is defined by the coordinates of the fixed USBL transponders. The interaction matrix relating the transponders' measurements to the vehicle's linear and angular velocities is derived to predict the future system errors. Based on this, a nonlinear model predictive controller (MPC) is designed to generate the velocity command for the vehicle, which minimizes the predictive errors in a limited horizon. The nonlinear adaptive control is utilized to track the velocity command with an asymptotically stable performance. The effectiveness of the docking method is demonstrated with the simulation studies using the REMUS AUV model
%K 自主水下航行器
%K 对接
%K 逆USBL定位系统
%K 模型预测控制
%K 自适应控制系统&lt
%K br&gt
%K autonomous underwater vehicles
%K docking
%K inverted USBL positioning system
%K model predictive control
%K adaptive control systems
%U http://journals.nwpu.edu.cn/xbgydxxb/CN/abstract/abstract6405.shtml