MPC based planar tracking control of autonomous underwater vehicle

In reference to the trajectory tracking of autonomous underwater vehicle (AUV) in horizontal plane, a model predictive control (MPC) based control design is studied for the trajectory tracking control by analysing and establishing the two-dimensional kinematics model of the AUV. The error model of the AUV is linearized and discretised, thereby the MPC is introduced in this algorithm, that is, the optimization problem of minimizing the objective function is transformed into the solution of the quadratic programming problem, so that the trajectory tracking of the AUV can be completed effectively under the condition of satisfying the constraints. The simulation experiment is carried out with MATLAB, and the sinusoidal trajectory and circular trajectory are simulated on the simulation platform. The numerical simulation verifies that the AUV can successfully fulfill the trajectory tracking task using the MPC controller.