针对复杂水文环境下无人自治水下机器人(AUV)轨迹跟踪实时性较慢、精度较低的问题, 设计了一种基于拉盖尔函数的自适应预测轨迹跟踪控制方法。首先, 基于预测控制将轨迹跟踪问题转化为二次规划设计; 其次, 为解决AUV 轨迹变化以及外部干扰所造成的控制量突变, 融合递推最小二乘法设计了自适应预测控制器; 接着, 采用拉盖尔函数重构控制器, 以解决运算量过大导致的系统响应速度变慢的问题; 最后, 仿真证明了该方法能够提升系统的响应速度、抗干扰性和鲁棒性。

Aiming at the problems of slow real-time tracking and low precision of unmanned Autonomous Underwater Vehicle (AUV) in complex hydrological environment, an adaptive predictive tracking control method based on Laguerre function is designed.Firstly, the trajectory tracking problem is transformed into quadratic programming design based on predictive control.Secondly, in order to solve the control variable mutation caused by AUV trajectory change and external disturbance, an adaptive predictive controller is designed by combining recursive least square algorithm.Then, the controller is reconstructed by Laguerre function to solve the slow response speed of the system caused by the large amount of computation.Finally, the simulation proves that the method can improve the response speed, anti-interference capability and robustness of the system.