新型可调向推进器水下机器人实现高机动与精准跟踪
A Novel Underwater Vehicle With Orientation Adjustable Thrusters: Design and Adaptive Tracking Control
- 采用冗余矢量推进器设计，支持六自由度运动与复合动作
- 自适应预测控制使轨迹跟踪精度提升68.6%，能耗降低23.8%
- 可完成螺旋/环形复合轨迹，适合复杂水域作业
自主水下航行器（AUV）在海洋探索中至关重要，但传统设计在复杂动态水下环境中常受限于机动性不足。本文提出一种新型可调向推进器水下机器人（OATAUV），配备冗余矢量推进器配置，实现全六自由度（6-DOF）运动及复合机动。为应对模型参数不确定性和环境干扰，提出一种前馈自适应模型预测控制器（FFAMPC），结合实时状态反馈与自适应参数更新，确保鲁棒轨迹跟踪。实验室水池中开展的闭环跟踪与复合运动实验验证了性能提升：相比常规车辆，OAT-AUV的冗余矢量推进器配置实现23.8%的成本降低；与PID控制器相比，FF-AMPC使轨迹跟踪性能提升68.6%。系统独特地实现了同类车辆无法实现的复合螺旋/环形轨迹。
原文摘要 · Abstract (English)
Autonomous underwater vehicles (AUVs) are essential for marine exploration and research. However, conventional designs often struggle with limited maneuverability in complex, dynamic underwater environments. This paper introduces an innovative orientation-adjustable thruster AUV (OATAUV), equipped with a redundant vector thruster configuration that enables full six-degree-of-freedom (6-DOF) motion and composite maneuvers. To overcome challenges associated with uncertain model parameters and environmental disturbances, a novel feedforward adaptive model predictive controller (FFAMPC) is proposed to ensure robust trajectory tracking, which integrates real-time state feedback with adaptive parameter updates. Extensive experiments, including closed-loop tracking and composite motion tests in a laboratory pool, validate the enhanced performance of the OAT-AUV. The results demonstrate that the OAT-AUV's redundant vector thruster configuration enables 23.8% cost reduction relative to common vehicles, while the FF-AMPC controller achieves 68.6% trajectory tracking improvement compared to PID controllers. Uniquely, the system executes composite helical/spiral trajectories unattainable by similar vehicles.
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