マイクロ自律表面車両の動的モデリングと効率的なデータ駆動型最適制御
Dynamic Modeling and Efficient Data-Driven Optimal Control for Micro Autonomous Surface Vehicles
小型自律表面車両の物理ベース動的モデルを構築し、弱形式に基づくオンライン学習でモデルをリアルタイム更新するデータ駆動型最適制御を提案。未知の積載物や外乱下でも軌道追従精度とロバスト性を向上させる。
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著者: Zhiheng Chen, Wei Wang
分類: cs.RO
原文アブストラクト
Micro Autonomous Surface Vehicles (MicroASVs) offer significant potential for operations in confined or shallow waters and swarm robotics applications. However, achieving precise and robust control at such small scales remains highly challenging, mainly due to the complexity of modeling nonlinear hydrodynamic forces and the increased sensitivity to self-motion effects and environmental disturbances, including waves and boundary effects in confined spaces. This paper presents a physics-driven dynamics model for an over-actuated MicroASV and introduces a data-driven optimal control framework that leverages a weak formulation-based online model learning method. Our approach continuously refines the physics-driven model in real time, enabling adaptive control that adjusts to changing system parameters. Simulation results demonstrate that the proposed method substantially enhances trajectory tracking accuracy and robustness, even under unknown payloads and external disturbances. These findings highlight the potential of data-driven online learning-based optimal control to improve MicroASV performance, paving the way for more reliable and precise autonomous surface vehicle operations.
