3D trajectory tracking control of underactuated AUV based on cascade system

ZHANG Zheng-qi; DONG Zao-peng; YANG Qian-qian; ZHANG Hai-sheng; QI Shi-jie; LI Jia-kang

doi:10.16411/j.cnki.issn1006-7736.2022.04.003

Journal of Dalian Maritime University >

2022 , Vol. 48 >Issue 4: 19 - 28

DOI: https://doi.org/10.16411/j.cnki.issn1006-7736.2022.04.003

3D trajectory tracking control of underactuated AUV based on cascade system

ZHANG Zheng-qi ,
DONG Zao-peng ,
YANG Qian-qian ,
ZHANG Hai-sheng ,
QI Shi-jie ,
LI Jia-kang

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(1. School of Naval Architecture, Ocean and Energy Power Engineering, Wuhan University of Technology, Wuhan 430063, China;2. China Institute of Marine Technology ＆ Economy, Beijing 100081, China)

Received date: 2022-10-05

Revised date: 2022-10-23

Online published: 2022-10-23

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Abstract

In order to solve the problem of model predictive controller (MPC) with large initial state deviation under actuator constraints, a cascade based MPC control method was designed. Firstly, cascade system was divided according to the underactuated autonomous underwater vehicle (AUV) model, and then MPC controllers were designed for the divided models. Secondly, the expected quantity was smoothed by differential tracker. Finally, the nonlinear disturbance observer was used to compensate the external disturbance. Simulation results verify the effectiveness of the proposed method

Key words： autonomous underwater vehicle(AUV); actuator constraint; model predictive control(MPC); cascade system; differential tracker

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ZHANG Zheng-qi , DONG Zao-peng , YANG Qian-qian , ZHANG Hai-sheng , QI Shi-jie , LI Jia-kang . 3D trajectory tracking control of underactuated AUV based on cascade system[J]. Journal of Dalian Maritime University, 2022 , 48(4) : 19 -28 . DOI: 10.16411/j.cnki.issn1006-7736.2022.04.003

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