A Model Predictive Control Algorithm Based on the Input Trend Compensation for UUV Motion Control

The Unmanned Underwater Vehicle (UUV) is an important tool to explore, develop and utilize the ocean. The essence of its motion control is the nonlinear control problem. With the task of the UUV system getting more and more complicated, the conventional control algorithms have been unable to meet the requirements. Based on the input trend compensation, we propose a model predictive control (MPC) method to improve the dynamic response speed. In this method, we add the input trend compensation factor based on the changing trend of the optimal control sequence, and then calculate the control quantity of the system. Verified by simulation, the method can improve the response speed of the system.