Aiming at the control problem of underactuated and large inertia unmanned underwater vehicle (UUV), based on the full digital model of UUV, the horizontal control of UUV is decoupled into path following and course control. The virtual guidance method of line of sight (LOS) navigation in Serret-Frenet coordinate system (S_F) is used for path following problem, and the model predictive control (MPC) method is used for heading control problem. Based on the more accurate hydrodynamic model, this method not only uses the advantage of model prediction to predict the effect of the current control strategy after multiple steps, so as to improve the control safety of the large inertial platform, but also avoids the control divergence problem of MPC in solving the nonlinear system with large degree of freedom. Through the simulation experiment, it is proved that the designed controller has the characteristics of low calculation consumption and high control accuracy for large inertia underwater vehicle.
Path Tracking Control of UUV Based on LOS-MPC Decoupling Control
Lect. Notes Electrical Eng.
International Conference on Autonomous Unmanned Systems ; 2021 ; Changsha, China September 24, 2021 - September 26, 2021
Proceedings of 2021 International Conference on Autonomous Unmanned Systems (ICAUS 2021) ; Chapter : 76 ; 769-780
2022-03-18
12 pages
Article/Chapter (Book)
Electronic Resource
English
Decoupling motion tracking control for 4WD autonomous vehicles based on the path correction
SAGE Publications | 2022
|Automatic parking path tracking method based on transverse and longitudinal decoupling
European Patent Office | 2022
|Decoupling and tracking control of induction motor drive
IEEE | 2002
|Decoupling and Tracking Control of Induction Motor Drive
Online Contents | 2002
|Wiley | 2021
|