Trajectory Tracking of Unmanned Underwater Vehicles based on Model Predictive Control in Two Dimension

被引：0
作者：
Gan, WenYang [1 ,2 ]
Zhu, Daqi [1 ,2 ]
Sun, Bing [1 ,2 ]
机构：
[1] Shanghai Maritime Univ, Lab Underwater Vehicles & Intelligent Syst, Haigang Ave 1550, Shanghai 201306, Peoples R China
[2] Shanghai Maritime Univ, Shanghai, Peoples R China
来源：
PROCEEDINGS OF THE 2016 IEEE 11TH CONFERENCE ON INDUSTRIAL ELECTRONICS AND APPLICATIONS (ICIEA) | 2016年
关键词：
Unmanned Underwater Vehicle; trajectory tracking; model predictive control; backstepping control; ROBOT NAVIGATION; NEURAL-NETWORK;
D O I：
暂无
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
Trajectory tracking of unmanned underwater vehicles (UUV) in two-dimension is researched by analyzing and establishing a two-dimension kinematic model of UUV. A new approach of trajectory tracking is posed, which is called model predictive control. Model predictive control is used based on linear description of the error model and it has to satisfy the control constraints. The optimization problem of minimizing the objective function is converted to the a quadratic programming problem, which solves the phenomenon of speed jump problem effectively. The simulation experiments show that model predictive control is valid and feasible in solving trajectory tracking of UUV in two-dimension, when compared with the method of backstepping.
引用
收藏
页码：212 / 217
页数：6
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