Lightweight Modeling of Underwater Gliders and Nonlinear MPC Controller Design with Actuator Constraint

• Published in: 水下无人系统学报 Vol. 32; no. 1; pp. 8 - 17
• Main Authors: Jieru WANG, Chong LI, Shengbo QI, Yuanyuan ZHAO
• Format: Journal Article
• Language: Chinese
• Published: Science Press (China) 01.02.2024
• Subjects: lightweight modeling; predictive control of model; underwater glider
• ISSN: 2096-3920
• DOI: 10.11993/j.issn.2096-3920.2023-0042

In response to the problems of high nonlinearity and dimensionality of existing underwater glider models, as well as difficulty in designing effective engineering controllers, the composition and working principle of the motion mechanism of underwater gliders were first studied. By neglecting secondary influencing factors in the modeling process, lightweight modeling of underwater gliders was conducted to reduce model nonlinearity and complexity. The effectiveness of the lightweight model was demonstrated through comparative verification. Subsequently, according to the motion in the vertical plane, the dynamic equation was further simplified, and the advantages of low dimension and small calculation amount of the model were brought into play. The actual constraints of state and control variables were introduced, and a realistic predictive attitude control algorithm for a real-time linearized model was designed. The numerical simulation results show that under the two common working conditions of ±17.4° and ±2