Daqi Zhu, Man Mei, and Bing Sun
Unmanned underwater vehicles, tracking control, model predictivecontrol, quadratic programming, speed jump
A new approach of tracking control with model predictive control (MPC) is investigated for unmanned underwater vehicle (UUV) in this paper. This algorithm is proposed mainly to avoid the speed jump problem and promises each thruster to satisfy the saturation limit. Firstly, the kinematic modelling for UUV tracking control is presented. Then, the MPC is employed to realize the tracking control. The problem to minimize the objective function is transformed to a quadratic programming issue, which is under the condition of satisfying the control constraints. The experimental results show the efficiency in terms of the trajectory tracking control problem for UUV, when compared with the backstepping method.
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