UUV Trajectory Tracking Control with Fault Tolerant Based on MPC

Unmanned Underwater Vehicle (UUV) is more and more widely used in marine work. Trajectory tracking is the basis of completing tasks, while fault tolerant control is the means to cope with emergencies. In order to make the UUV operation more conform to the actual control constraints, and prevent UUV from getting out of control due to thrust saturation, this paper presented a model predictive control method based on quantum particle swarm optimization, and introduced pseudo inverse fault tolerant control method in the process of control, enabling the UUV to cope with a controllable fault of the thruster. The entire control system includes kinematic controller and dynamic controller. Kinematic controller optimizes the position error to obtain the expected speed under the constraint conditions, while dynamic controller optimizes the speed to obtain the required thrust. Finally, the effectiveness of the method is verified by a three-dimensional simulation. Proposed method can solve the backstepping thrust saturation problem and deal with the controllable fault of the thruster, and the influence of objective function weights on the tracking effect is analyzed.