Three-Dimensional Path Tracking of Over-Actuated AUVs Based on MPC and Variable Universe S-Plane Algorithms
Autonomous Underwater Vehicles (AUVs) are widely used for the inspection of seabed pipelines. To address the issues of low trajectory tracking accuracy in AUV inspection processes due to uncertain ocean current disturbances, this paper designs a new dual-loop controller based on Model Predictive Con...
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| Format: | Article |
| Language: | English |
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MDPI AG
2024-02-01
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| Series: | Journal of Marine Science and Engineering |
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| Online Access: | https://www.mdpi.com/2077-1312/12/3/418 |
| _version_ | 1797240389651922944 |
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| author | Feng Xu Lei Zhang Jibin Zhong |
| author_facet | Feng Xu Lei Zhang Jibin Zhong |
| author_sort | Feng Xu |
| collection | DOAJ |
| description | Autonomous Underwater Vehicles (AUVs) are widely used for the inspection of seabed pipelines. To address the issues of low trajectory tracking accuracy in AUV inspection processes due to uncertain ocean current disturbances, this paper designs a new dual-loop controller based on Model Predictive Control (MPC) and Variable Universe S-plane algorithms (S-VUD FLC, where VUD represents Variable Universe Discourse and FLC represents Fuzzy Logic Control) to achieve three-dimensional (3-D) trajectory tracking of an over-actuated AUV under uncertain ocean current disturbances. This paper uses MPC as the outer-loop position controller and S-VUD FLC as the inner-loop speed controller. The outer-loop controller generates desired speed instructions that are passed to the inner-loop speed controller, while the inner-loop speed controller generates control input and uses a direct logic thrust distribution method that approaches optimal energy consumption to distribute the thrust generated by the propellers to the over-actuated AUV, achieving closed-loop tracking of the entire trajectory. When designing the outer-loop MPC controller, the actual control input constraints of the system are considered, and control increments are introduced to reduce control model errors and the impact of uncertain external disturbances on the actual AUV model parameters. When designing the inner-loop S-VUD FLC, the strong robustness of the variable universe fuzzy controller and the easy construction characteristics of the S-plane algorithm are combined, and integral action is introduced to improve the system’s tracking accuracy. The stability of the outer loop controller is proven by the Lyapunov method, and the stability of the inner loop controller is verified by simulation. Finally, simulations show that the over-actuated AUV has fast tracking processes and high tracking result accuracy under uncertain ocean current disturbances, demonstrating the effectiveness of the designed dual-loop controller. |
| first_indexed | 2024-04-24T18:06:40Z |
| format | Article |
| id | doaj.art-164554bb5916468db5adffefec541c35 |
| institution | Directory Open Access Journal |
| issn | 2077-1312 |
| language | English |
| last_indexed | 2024-04-24T18:06:40Z |
| publishDate | 2024-02-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Journal of Marine Science and Engineering |
| spelling | doaj.art-164554bb5916468db5adffefec541c352024-03-27T13:49:13ZengMDPI AGJournal of Marine Science and Engineering2077-13122024-02-0112341810.3390/jmse12030418Three-Dimensional Path Tracking of Over-Actuated AUVs Based on MPC and Variable Universe S-Plane AlgorithmsFeng Xu0Lei Zhang1Jibin Zhong2College of Information Science and Engineering, China University of Petroleum (Beijing), Beijing 102249, ChinaCollege of Information Science and Engineering, China University of Petroleum (Beijing), Beijing 102249, ChinaOffshore Oil Engineering Co., Ltd., Tianjin 300461, ChinaAutonomous Underwater Vehicles (AUVs) are widely used for the inspection of seabed pipelines. To address the issues of low trajectory tracking accuracy in AUV inspection processes due to uncertain ocean current disturbances, this paper designs a new dual-loop controller based on Model Predictive Control (MPC) and Variable Universe S-plane algorithms (S-VUD FLC, where VUD represents Variable Universe Discourse and FLC represents Fuzzy Logic Control) to achieve three-dimensional (3-D) trajectory tracking of an over-actuated AUV under uncertain ocean current disturbances. This paper uses MPC as the outer-loop position controller and S-VUD FLC as the inner-loop speed controller. The outer-loop controller generates desired speed instructions that are passed to the inner-loop speed controller, while the inner-loop speed controller generates control input and uses a direct logic thrust distribution method that approaches optimal energy consumption to distribute the thrust generated by the propellers to the over-actuated AUV, achieving closed-loop tracking of the entire trajectory. When designing the outer-loop MPC controller, the actual control input constraints of the system are considered, and control increments are introduced to reduce control model errors and the impact of uncertain external disturbances on the actual AUV model parameters. When designing the inner-loop S-VUD FLC, the strong robustness of the variable universe fuzzy controller and the easy construction characteristics of the S-plane algorithm are combined, and integral action is introduced to improve the system’s tracking accuracy. The stability of the outer loop controller is proven by the Lyapunov method, and the stability of the inner loop controller is verified by simulation. Finally, simulations show that the over-actuated AUV has fast tracking processes and high tracking result accuracy under uncertain ocean current disturbances, demonstrating the effectiveness of the designed dual-loop controller.https://www.mdpi.com/2077-1312/12/3/418model predictive controlvariable universe S-planethree-dimensional trajectory trackingover-actuated AUV |
| spellingShingle | Feng Xu Lei Zhang Jibin Zhong Three-Dimensional Path Tracking of Over-Actuated AUVs Based on MPC and Variable Universe S-Plane Algorithms Journal of Marine Science and Engineering model predictive control variable universe S-plane three-dimensional trajectory tracking over-actuated AUV |
| title | Three-Dimensional Path Tracking of Over-Actuated AUVs Based on MPC and Variable Universe S-Plane Algorithms |
| title_full | Three-Dimensional Path Tracking of Over-Actuated AUVs Based on MPC and Variable Universe S-Plane Algorithms |
| title_fullStr | Three-Dimensional Path Tracking of Over-Actuated AUVs Based on MPC and Variable Universe S-Plane Algorithms |
| title_full_unstemmed | Three-Dimensional Path Tracking of Over-Actuated AUVs Based on MPC and Variable Universe S-Plane Algorithms |
| title_short | Three-Dimensional Path Tracking of Over-Actuated AUVs Based on MPC and Variable Universe S-Plane Algorithms |
| title_sort | three dimensional path tracking of over actuated auvs based on mpc and variable universe s plane algorithms |
| topic | model predictive control variable universe S-plane three-dimensional trajectory tracking over-actuated AUV |
| url | https://www.mdpi.com/2077-1312/12/3/418 |
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