AUV Tunnel Tracking Method Based on Adaptive Model Predictive Control

摘要

In this paper, a model predictive path tracking controller is designed for the path tracking of the autonomous underwater vehicle (AUV). Firstly, Serret-Frenet coordinate system is introduced, and the path tracking error system model is established in this coordinate system. Based on Lyapunov theory and Backstepping method, the forward heading of AUV is conversed to the target value. Then, a nonlinear model predictive control design constraint path following control law of the AUV based on rolling to solve constrained optimization problems, satisfy the constraint of extension control input, to hit the target heading control. In the end, AUV-T, an underwater robot developed by Harbin engineering university, was used to test the proposed control law. The results showed that the controller showed good tracking effect.