Trajectory re-planning and tracking control of unmanned underwater vehicles on dynamic model

Abstract

The trajectory tracking control In UUV's control system is an important research topic. Its kinematic model can help people understand the motion, while it is the thrusters that makes UUV move. Based on the dynamic model, this paper study about the tracking control problem of UUV. A trajectory re-planning controller based on model predictive control (MPC) is designed and added in the trajectory tracking control layer to form a new control system to produce a re-planned trajectory with obstacle avoidance. Firstly, an obstacle avoidance function is used for the design of MPC trajectory re-planning controller. Then, the tracking control law is obtained by the MPC model with speed and thrust constraints and the sequential quadratic programming optimization algorithm. Lastly, compared to the backstepping tracking algorithm, the speed jump of backstepping is sharp, while the MPC tracking controller can solve the speed jump problem well, and the MPC controller has a lower requirement for the thrust. Simulation results of different obstacles demonstrate its efficiency of the proposed the MPC trajectory re-planning tracking control algorithm for UUV.