The Tracking Control of Unmanned Underwater Vehicles Based on QPSO-Model Predictive Control

Wenyang Gan,Chaomin Luo,Bing Sun,Daqi Zhu

doi:10.1007/978-3-319-65289-4_66

The Tracking Control of Unmanned Underwater Vehicles Based on QPSO-Model Predictive Control

Wenyang Gan, Chaomin Luo + Show 2 more

https://doi.org/10.1007/978-3-319-65289-4_66

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Publication Date: Jan 1, 2017

Citations: 1

Affiliation: Shanghai Maritime University, University of Detroit Mercy

#Quantum-behaved Particle Swarm Optimization #Control Of Unmanned Underwater Vehicles + Show 8 more

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Abstract

For the trajectory tracking control of Unmanned Underwater Vehicles (UUV), an improved Model Predictive Control (MPC) method based on Quantum-behaved Particle Swarm Optimization (QPSO) is proposed. The concept of trajectory tracking is given firstly in this paper. Then QPSO-MPC is employed to realize the tracking control. The QPSO problem is suggested to optimization problem of minimizing the objective function with the conditions of satisfying the control constraints. The simulation results which is under the two-dimensional situation show that QPSO-MPC can effectively solve the speed jump problem. More effective and feasible for trajectory tracking problem compared with backstepping control method.

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