Research on trajectory tracking control of semi-submersible unmanned vehicle navigation based on MPC
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摘要: 针对新型半潜式无人艇在导航航行过程中轨迹跟踪误差较大的问题,提出基于模型预测控制（MPC）的轨迹跟踪控制方法．并建立新型半潜式无人艇的运动模型,基于实际参数,构建MPC目标函数和系统约束条件,将半潜式无人艇轨迹跟踪问题转化为最优值问题;利用仿真软件,对控制算法进行了仿真分析. 利用卫星定位设备进行了导航轨迹跟踪试验．仿真与试验结果表明:基于MPC的轨迹跟踪控制方法提高了半潜式无人艇的导航轨迹跟踪精度,跟踪精度比原有PID控制方法提高了50％左右.Abstract: Aiming at the problem of large tracking error in the navigation process of new semi-submersible unmanned aerial vehicle, a tracking control method based on MPC is proposed. In this paper, the motion model of the new semi-submersible is established, and based on the actual parameters, the MPC objective function and system constraints are constructed; The trajectory tracking problem of the semi-submersible is transformed into the optimal value problem; The control algorithm is simulated and analyzed by using the simulation software, and the navigation trajectory tracking test is carried out by using the satellite positioning equipment. The simulation and test results show that the MPC based trajectory tracking control method improves the tracking accuracy of the navigation trajectory of the semi-submersible unmanned vehicle, and the tracking accuracy is about 50％ higher than the original PID control method.
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Key words:
- semi-submersible unmanned vehicle /
- navigation track tracking /
- MPC
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