Bionic Underwater Vehicle: A Data-Driven Disturbance Rejection Control Framework

doi:10.1109/MRA.2023.3328460

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	Bionic Underwater Vehicle: A Data-Driven Disturbance Rejection Control Framework
	Wang, Kaihui 1,2; Zou, Wei 2,3; Ma, Ruichen 2; Lv, Jiaqi 2; Su, Hu 2; Wang, Yu 2; Ma, Hongxuan 2
刊名	IEEE ROBOTICS & AUTOMATION MAGAZINE
	2023-11-14
页码	11
关键词	Vehicle dynamics Robots Propulsion Predictive models Biological system modeling Robustness Disturbance observers
ISSN号	1070-9932
DOI	10.1109/MRA.2023.3328460
通讯作者	Wang, Kaihui(wangkaihui2019@ia.ac.cn)
英文摘要	Disturbances caused by unknown dynamics and environmental factors render the automatic control of underwater vehicles extremely challenging. These effects are complex, time varying, and difficult to model accurately, leading to possible instability in the control process. This article focuses on the disturbance rejection problem of an underactuated bionic underwater vehicle (BUV). A novel control approach that combines the robustness of a model predictive controller with the modeling capabilities of a learning-based observer is proposed. More specifically, a practical Gaussian process (GP)-based disturbance observer is designed for online disturbance estimation. The interactive prediction results are integrated into a model predictive controller to obtain a refined dynamics model. The control framework optimally solves for the optimal control output to achieve control at the dynamics level. The proposed approach realizes disturbance rejection control while ensuring real-time application, constraint satisfaction, and recursive feasibility under complicated disturbances. The feasibility and efficiency of the proposed approach are verified through simulations and real-world experiments.
资助项目	National Key Research and Development Program of China[2021ZD0114505] ; Beijing Natural Science Foundation[4222055] ; National Natural Science Foundation of China[62073316] ; National Natural Science Foundation of China[62122087] ; Scientific Research Program of the Beijing Municipal Commission of Education-Natural Science Foundation of Beijing[KZ202210017024] ; Major Basic Research Projects of Natural Science Foundation of Shandong Province[ZR2019ZD07]
WOS关键词	MODEL-PREDICTIVE CONTROL ; TRACKING ; MPC
WOS研究方向	Automation & Control Systems ; Robotics
语种	英语
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号	WOS:001106577500001
资助机构	National Key Research and Development Program of China ; Beijing Natural Science Foundation ; National Natural Science Foundation of China ; Scientific Research Program of the Beijing Municipal Commission of Education-Natural Science Foundation of Beijing ; Major Basic Research Projects of Natural Science Foundation of Shandong Province
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/55128]
专题	多模态人工智能系统全国重点实验室
通讯作者	Wang, Kaihui
作者单位	1.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 2.Chinese Acad Sci, Inst Automat, State Key Lab Multimodal Artificial Intelligence S, Beijing 100190, Peoples R China 3.Univ Chinese Acad Sci, Beijing 100049, Peoples R China
推荐引用方式 GB/T 7714	Wang, Kaihui,Zou, Wei,Ma, Ruichen,et al. Bionic Underwater Vehicle: A Data-Driven Disturbance Rejection Control Framework[J]. IEEE ROBOTICS & AUTOMATION MAGAZINE,2023:11.
APA	Wang, Kaihui.,Zou, Wei.,Ma, Ruichen.,Lv, Jiaqi.,Su, Hu.,...&Ma, Hongxuan.(2023).Bionic Underwater Vehicle: A Data-Driven Disturbance Rejection Control Framework.IEEE ROBOTICS & AUTOMATION MAGAZINE,11.
MLA	Wang, Kaihui,et al."Bionic Underwater Vehicle: A Data-Driven Disturbance Rejection Control Framework".IEEE ROBOTICS & AUTOMATION MAGAZINE (2023):11.