The Tracking control of Autonomous Underwater Vehicle Based on FA - Model Predictive Control

Abstract

Aiming at the trajectory tracking control of the autonomous underwater vehicle (AUV), a new model predictive control (MPC) method based on the firefly algorithm optimization (FA) is proposed. This article firstly gives the concept of trajectory tracking and model predictive control, and then uses FA-MPC to achieve tracking control. The firefly algorithm is used to solve the optimization problem of minimizing the objective function under the condition of satisfying control amount constraints and control incremental constraints. The simulation experiment results illustrate that FA-MPC can effectively solve the speed jump problem caused by the use of backstepping control, and FA-MPC is stable and feasible in the trajectory tracking problem.