A fast tube model predictive control scheme based on sliding mode control for underwater vehicle-manipulator system
Dai, Yong2; Gao HW(高宏伟)2,3; Yu SH(于双和)1
刊名Ocean Engineering
2022
卷号254页码:1-8
关键词Fast tube model predictive control (FTMPC) Multi-input multi-output (MIMO) system Sliding mode control (SMC) The ancillary tube law Underwater vehicle-manipulator system (UVMS)
ISSN号0029-8018
产权排序2
英文摘要

This paper presents a novel robust fast tube model predictive control (FTMPC) scheme for controlling the multi-input multi-output (MIMO) underwater vehicle-manipulator system (UVMS) in the case of system unmodeled uncertainties and external disturbances. The structure of the FTMPC is designed by a nominal fast MPC and an ancillary tube sliding mode control (SMC) law. The nominal fast MPC uses the approximated prediction control law for achieving the fast online convex optimization. The ancillary tube law uses the explicit SMC for strong robustness and makes the state error between the actual system and the nominal system converge to zero. Finally, the effectiveness of controlling UVMS is verified by the proposed SMC-based FTMPC scheme through the tracking simulations.

语种英语
资助机构2021 High-level Talents Research Support Program of Shenyang Ligong University (No. 1010147001017) ; LiaoNing Province Higher Education Innovative Talents Program Support Project, China (Grant No. LR2019058) ; LiaoNing Province Joint Open Fund for Key Scientific and Technological Innovation Bases, China (Grant No. 2021-KF-12-05) ; National Natural Science Foundation of China (62073054)
内容类型期刊论文
源URL[http://ir.sia.cn/handle/173321/30991]  
专题沈阳自动化研究所_空间自动化技术研究室
通讯作者Dai, Yong
作者单位1.The College of Marine Electrical Engineering, Dalian Maritime University, Dalian 116026, China
2.The School of Automation and Electrical Engineering, Shenyang Ligong University, Shenyang 110159, China
3.The State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
推荐引用方式
GB/T 7714
Dai, Yong,Gao HW,Yu SH. A fast tube model predictive control scheme based on sliding mode control for underwater vehicle-manipulator system[J]. Ocean Engineering,2022,254:1-8.
APA Dai, Yong,Gao HW,&Yu SH.(2022).A fast tube model predictive control scheme based on sliding mode control for underwater vehicle-manipulator system.Ocean Engineering,254,1-8.
MLA Dai, Yong,et al."A fast tube model predictive control scheme based on sliding mode control for underwater vehicle-manipulator system".Ocean Engineering 254(2022):1-8.
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