关键词: 水下机器人, 轨迹跟踪, 模型预测控制, 速度跳变

Abstract: In terms of the tracking problem of unmanned underwater vehicles (UUV) in two-dimension, a new approach of the tracking control algorithm is investigated by analyzing and building the two-dimension kinematic model of UUV in this paper, that is model predictive control. The model predictive control is employed based on the linear error model, the optimization problem of minimizing the objective function is transformed to a quadratic programming problem, which makes it effective to realize the tracking control and avoid the speed jump problem 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 method of backstepping.

Key words: Unmanned underwater vehicles, trajectory tracking, model predictive control, speed jump