MPC Underwater Docking Control Method Study of UUV in Complex Interference

Due to the limitation of UUV’s own ability, UUV cannot work long hours. Therefore, UUV needs to dock underwater with docking devices to complete energy supplement, information exchange, under water recovery and so on, such as underwater charging piles, underwater information exchange stations, underwater docks, submarines and etc. Aiming at a variety of complex interference problem, the MPC method is proposed to be normalized, and satisfactory control is introduced to solve the multi-objective and multi-DOF control problem. A dynamic docking interference model predictive control (I-MPC) algorithm is designed for UUV to achieve docking with docking device. To verify that I-MPC docking method is feasible, a series of comparative simulation experiments of UUV and moving docking device are performed. By analyzing comparative simulation results of MPC method and I-MPC method, the stability and convergence of I-MPC docking method in complex interference constraints is proved.