Journal
OCEAN ENGINEERING
Volume 254, Issue -, Pages -Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.oceaneng.2022.111259
Keywords
Fast tube model predictive control (FTMPC); Multi-input multi-output (MIMO) system; Underwater vehicle-manipulator system; (UVMS); The ancillary tube law; Sliding mode control (SMC)
Funding
- Pro-gram of Shenyang Ligong University [1010147001017]
- LiaoN-ing Province Higher Education Innovative Talents Program Support Project, China [LR2019058]
- LiaoNing Province Joint Open Fund for Key Scientific and Technological Innovation Bases, China [2021-KF-12-05]
- National Natural Science Foundation of China [62073054]
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This paper presents a novel robust fast tube model predictive control scheme for controlling the MIMO underwater vehicle-manipulator system, which combines fast MPC and tube sliding mode control law to achieve effective control.
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.
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