摘要
模型预测控制是一种工程实践方法,它采用滚动优化的策略,通过不断地在线优化计算,获得最优的控制效果。文中对模型预测控制理论在自主式水下航行器水平面航向控制中的应用进行了研究,用视线导引法产生参考航向角,通过遗传算法对其性能指标函数进行优化,通过计算机仿真显示出这种算法的可行性。
Model predictive control(MPC)is a method of engineering.It computes a sequence of manipulated variable adjustments in order to optimize the future behaviour of a plant.This paper investigates the application of model predictive control to the autonomous underwater vehicle.A line of sight guidance scheme is used to generate the reference heading.The optimization of the performance index is done using GA.Simulation results are presented to demonstrate the suitability of the proposed algorithm.
出处
《弹箭与制导学报》
CSCD
北大核心
2005年第S6期272-274,共3页
Journal of Projectiles,Rockets,Missiles and Guidance
关键词
模型预测控制
AUV
遗传算法
视线导引
model predictive control
autonomous underwater vehicle
genetic algorithm
line of sight guidance
