A fast tube model predictive control scheme based on sliding mode control for underwater vehicle-manipulator system
文献类型：期刊论文
| 作者 | Dai, Yong3; Gao HW(高宏伟)2,3 ; Yu SH(于双和)1
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| 刊名 | Ocean Engineering
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| 出版日期 | 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) |
| 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 State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China 3.The School of Automation and Electrical Engineering, Shenyang Ligong University, Shenyang 110159, 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. |
入库方式： OAI收割
来源：沈阳自动化研究所
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