AUV recovery docking dynamic positioning control method based on model predictive control

Abstract

The invention discloses an AUV recovery docking dynamic positioning control method based on model predictive control. For dynamic positioning control in an AUV recovery docking process, state estimation is completed through an adaptive unscented Kalman filter algorithm, a state estimation result is compared with an expected state to complete feedback, linear processing is carried out on a linear part in a complex nonlinear system of the AUV, meanwhile, the approximation capacity of an RBF neural network to a nonlinear function is utilized, a compensation amount is generated through an RBF neural network compensator with a self-adjusting function according to the nonlinear part of the AUV, and closed-loop control over a dynamic positioning system is achieved through a model predictive controller. According to the method, a neural network and model predictive control are combined to solve the influence caused by an inaccurate model in the AUV dynamic positioning process, and the dynamicpositioning control precision and stability are improved.

Description

technical field [0001] The invention relates to a dynamic positioning control method in the recovery docking process, in particular to a model predictive dynamic positioning control method based on an RBF (radial basis) neural network compensator. It belongs to the field of robotics. Background technique [0002] Unmanned underwater vehicles can be divided into two types: Remote Operated Vehicle (ROV) and Autonomous Underwater Vehicle (AUV). The ROV relies on the umbilical cable for power and must move around the mother ship due to umbilical constraints. AUV is not connected to the mother ship, and uses its own battery pack to provide energy. It has the advantages of deep diving depth, wide range of activities, and high concealment. However, due to its limited energy, AUV must consider how to recover and deploy after working underwater for a period of time. put. At present, AUVs are mainly recovered and deployed on the sea surface through marine booms. This method is cumb...

AI Technical Summary

Problems solved by technology

[0005] Dynamic positioning is often used in AUV or ship systems, and AUV and ship systems are complex nonlinear systems. If dynamic positioning control is performed with a linear model, it is difficult to guarantee the control accuracy of dynamic positioning in practical applications.

The patent document with the application number "201610457249.4" discloses "a predictive control method based on motion linear model and regional performance index". Practical applications in nonlinear systems may cause low dynamic positioning accuracy and insufficient stability due to inaccurate models, which will affect the dynamic positioning effect

Images