A Path Tracking Algorithm Based on Model Predictive Control for Bionic Underwater Vehicle

The path tracking problem is a key technology basis for many military and civil applications of underwater vehicles. As for the bionic underwater vehicle mentioned in our paper, the path tracking task is much difficult. Aiming at the path tracking problem of bionic underwater vehicles, this paper in...

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Bibliographic Details
Published inProceedings of ... International Conference on Computer Science and Network Technology (Online) pp. 275 - 280
Main Authors Li, Bingyu, Wang, Chonglei, Guo, Chunyu
Format Conference Proceeding
LanguageEnglish
Published IEEE 21.10.2023
Subjects
Computer science
model predictive control (MPC)
path tracking
Prediction algorithms
Predictive models
Quadratic programming
Simulation
Target tracking
Task analysis
underwater vehicles
Online AccessGet full text
ISSN2690-5892
DOI10.1109/ICCSNT58790.2023.10334564

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Summary:The path tracking problem is a key technology basis for many military and civil applications of underwater vehicles. As for the bionic underwater vehicle mentioned in our paper, the path tracking task is much difficult. Aiming at the path tracking problem of bionic underwater vehicles, this paper introduces a new algorithm. Based on the linearized and discretized error model description, the model predictive control method was applied. The optimization problem is transformed into a quadratic programming problem with some constraints, and through further computing, the optimal solution is gained under the condition of satisfying the control constraints. The simulation results show that the algorithm can effectively control the path and reach the desired target.
ISSN:2690-5892
DOI:10.1109/ICCSNT58790.2023.10334564