论文部分内容阅读
针对水下无人潜航器(UUV)路径跟随问题,提出了一种基于模型的非线性反馈跟随控制方法.考虑UUV两输入、三输出的非线性跟随模型,选择与输出误差和控制误差相关的性能指标函数,利用基于最小化指标函数的非线性广义预测控制算法设计路径跟随器.针对UUV跟随模型简化后不确定性对路径跟随效果的影响,在控制闭合回路中提出了基于积分形式的水动力参数辨识方案,以减小路径跟随过程中规划路径和实际跟随路径之间的位置误差.最后,通过湖试验证了所提出方法的有效性.
Aiming at the following problem of UUV path follow-up, a model-based nonlinear feedback following control method is proposed. Considering the nonlinear follow-up model of UUV with two inputs and three outputs, the output error and control error are selected The function follower is designed by using the nonlinear generalized predictive control algorithm based on the minimized index function.According to the influence of the uncertainty of the UUV following model on the path following effect after simplification, Dynamic parameter identification scheme to reduce the position error between the planned path and the actual following path in the path following process.Finally, the effectiveness of the proposed method is verified by the lake test.