On the Offset-free Nonlinear Model Predictive Control for AUV Docking

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	On the Offset-free Nonlinear Model Predictive Control for AUV Docking
	Shi K(石凯)1,2,3; Wang XH(王晓辉)2,3; Xu HX(徐会希)2,3
	2021
会议日期	September 11-11, 2021
会议地点	Beijing, China
页码	117-122
英文摘要	The docking control of AUV is disturbed by model mismatch and sea current. This paper presents a method of AUV docking control based on the application of offset-free nonlinear model predictive control (NMPC) with multiple dynamic constraints. The controller drives the AUV from the initial pose to the entrance of the docking station (DS) through the coordinated motion of the AUV’s surge, sway, heave and yaw. In the process of AUV docking, the control input range, static space and field of view (FOV) of positioning sensor are the constraints of NMPC controller. A state observer is designed to estimate the system state and external disturbance, and the estimation is combined with NMPC controller to ensure the offset-free docking of AUV in the presence of model mismatch and external disturbance. Real-time iteration (RTI) approach is used to solve the on-line NMPC problem in real time. The offset-free NMPC controller is demonstrated in simulation studies using a six degrees of freedom (6-DOF) nonlinear model of AUV. The results obtained demonstrate that the proposed method can realize offset-free AUV docking control even under significant plant-model mismatch and external persistent current disturbance.
产权排序	1
会议录	Proceedings of the 3rd WRC Symposium on Advanced Robotics and Automation 2021
会议录出版者	IEEE
会议录出版地	New York
语种	英语
ISBN号	978-1-6654-1823-2
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/29959]
专题	沈阳自动化研究所_水下机器人研究室
通讯作者	Shi K(石凯)
作者单位	1.University of Chinese Academy of Sciences, Beijing 100049, China 2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China 3.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China
推荐引用方式 GB/T 7714	Shi K,Wang XH,Xu HX. On the Offset-free Nonlinear Model Predictive Control for AUV Docking[C]. 见:. Beijing, China. September 11-11, 2021.