A Dynamic Tracking Control for the 4500 m-Human Occupied Vehicle

Abstract

In this paper, a model predictive adaptive control strategy is proposed for the two-dimensional plane trajectory tracking with the constant ocean current of the 4500 m-Human Occupied Vehicle (HOV). The control strategy consists of a quantum-behaved particle swarm model predictive kinematics controller (QPSO-MPC) and an adaptive dynamics controller. In the kinematics control, the relative reference velocity vector under the influence of ocean current is obtained by combining the ocean current velocity vector with the reference velocity vector. The position error is inputted to the QPSO-MPC controller to obtain the virtual relative expected velocity, which completes position tracking. In the dynamics control, the virtual relative expected velocity and the actual velocity is taken as the input. The thrust of each degree of freedom (DOF) is obtained by using the adaptive controller, which means the velocity tracking is completed. Then, from 4500 m-HOV thruster arrangement, the thrust is assigned to each thruster. Compared with the traditional adaptive control strategy, the simulation results illustrate that the proposed model predictive adaptive control strategy can achieve the tracking control without large velocity jump and driver saturation phenomenon under the ocean current disturbance.