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Volume 25 Issue 创刊号
 
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Article Navigation >  Journal of Unmanned Undersea Systems  > 2017  >  25(创刊号): 082-88
ZHANG Guang-jie, YAN Wei-sheng, GAO Jian. Straight Line Tracking of Underactuacted AUV Based on Model Predictive Control[J]. Journal of Unmanned Undersea Systems, 2017, 25(创刊号): 082-88. doi: 10.11993/j.issn.2096-3920.2017.01.009
Citation: ZHANG Guang-jie, YAN Wei-sheng, GAO Jian. Straight Line Tracking of Underactuacted AUV Based on Model Predictive Control[J]. Journal of Unmanned Undersea Systems, 2017, 25(创刊号): 082-88. doi: 10.11993/j.issn.2096-3920.2017.01.009
shu

Straight Line Tracking of Underactuacted AUV Based on Model Predictive Control

doi: 10.11993/j.issn.2096-3920.2017.01.009

  • School of Marine Science and Technology, Northwestern Polytechnical University, Xi′an 710072, China

  • Publish Date: 2017-04-20
    Abstract
  • To apply the model predictive control method to linear tracking control of underactuated autonomous underwater vehicle(AUV) with input constraint, three model predictive control algorithms, i.e., the linear model predictive control(LMPC) algorithm, the linear time-varying model predictive control(LTV-MPC) algorithm, and the nonlinear model predictive control(NMPC) algorithm, are respectively applied to the nonlinear system, and the performances of these algorithms are analyzed and compared. Simulation results show that all three model predictive control algorithms can achieve straight line tracking of AUV under the condition of satisfying the system constraints, NMPC and LTV-MPC are superior to LMPC in control rapidity and stability, and NMPC is better than LTV-MPC. Therefore, the model predictive control algorithm has strong robustness and reliability.

     

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    • References(11)
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