Path Tracking of U nderwater Vehicles Based on Adaptive Model Predictive Control

Aiming at the three-dimensional trajectory tracking problem of unmanned autonomous underwater vehicle (AUV) in maritime work, an adaptive predictive path tracking control method is designed in this paper. According to the motion control model of underwater vehicle space-time system, after the path error in three-dimensional space is linearized, the trajectory tracking problem is transformed into a standard quadratic programming problem, and the actual constraints of system input and state variables are included in the optimization calculation to ensure the accuracy, dynamics and anti-interference of path tracking. Aiming at the shortcomings of fixed model parameters in traditional predictive control. This paper proposes to design adaptive predictive controller by using Kalman filter algorithm to update the parameters in each control cycle. This method effectively improves the dynamic and stability of the system and further improves the control accuracy. The simulation results of Matlab/Simulink show that the adaptive predictive control has better control performance.