The Research On The Robust Model Predictive Control Technolog Of Dynamic Positioning To Line For UUV

Unmanned Underwater Vehicle(UUV)has been applied in the military field all over the world,The concealment is very crucial when UUV performs military tasks under the water,And it is limited by carrying energy,So we need to recover the UUV concealed under the water.Now many countries around the world have developed a variety of UUV underwater recovery methods and have achieved some results.it needs high precision control system to realize UUV underwater recovery,in this paper,the mother ship carry UUV recycling in piggyback methods as the background.It focus on study the method of dynamic positioning to line in the process of recycling UUV,it is proposed the UUV dynamic positioning to line strategy based on the robust model predictive control algorithm.Firstly,this article analyzes carrying UUV recycling process in piggyback methods and introduces UUV briefly.the article analysis the UUV propeller system detailed by studying the movement characteristics of UUV and only the UUV's propeller system provides power of various degrees of freedom in the docking process.Setting up UUV's six degrees of freedom movement mathematical model in the space based on the fixed coordinate system and moving coordinate system,the corresponding processings has been carried on according to the characteristics.Then as for the robust model predictive control algorithm used in the method of UUV dynamic positioning to line,the basic theory and characteristics of model predictive control method was studied.The article focus on predictive control method based on the receding horizon robust model and model predictive control algorithm as linear matrix inequality theory and dissipativetheory.It has a detailed analysis of robust stability based on receding horizon robust model predictive control method.Then uncertain interference in the recovery process of UUV is considered.The original algorithm is improved to enhance the capability of the uncertain interference suppression and to ensure the robustness of the system.In this paper,the main constraints of UUV for recovery process are analyzed and converted into mathematical inequalities.The robust model predictive control receding horizon is researched based on dynamic position to line for UUV.First UUV prediction Model of dynamic position to line is established on the basis of the error equation,then a controller designed using robust model predictive control algorithm.It is implementation of control system process will be detailed in this paper.Finally,in consider of the two motion states of mothership underwater recovery UUV,two digitals simulation cases are designed to verify the robust model predictive control receding horizon designed in this paper.Through the analysis of the simulation results,the control strategy using robust model predictive control receding horizon based on dynamic position to line for UUV is feasibility and effectiveness.