Modified C/GMRES Algorithm for Fast Nonlinear Model Predictive Tracking Control of AUVs

作者：Shen, Chao; Buckham, Brad; Shi, Yang^*

来源：IEEE Transactions on Control Systems Technology, 2017, 25(5): 1896-1904.

DOI：10.1109/TCST.2016.2628803

• Autonomous underwater vehicle (AUV)
• barrier function
• continuation/generalized minimal residual (C/GMRES)
• fast optimization
• nonlinear model predictive control (NMPC)
• trajectory tracking

This brief presents a nonlinear model predictive control (NMPC) method for the trajectory tracking problem of an autonomous underwater vehicle (AUV). By augmenting the desired output trajectory to a reference dynamical system, the tracking task can fit into the standard NMPC framework, which effectively avoids possible numerical difficulties in the following fast NMPC implementation. To relieve the conflict between short sampling period and high demand of online calculation, Ohtsuka's continuation/generalized minimal residual (C/GMRES) algorithm is investigated. In order to handle the realistic constraints on the AUV thrusters, we incorporate the log barrier functions into the cost function and modify the C/GMRES algorithm. Several different reference trajectories are tested using the identified dynamic model of the Saab SeaEye Falcon open-frame ROV/AUV, which demonstrate the effectiveness and efficiency of the proposed fast algorithm for the AUV tracking control.

• 出版日期2017-9
• 单位湖北工业大学