Aiming at the problem of underwater maneuvering target tracking, this paper studies the tracking control method of the underwater unmanned vehicle based on model predictive control (MPC). First, an interacting multiple model extended Kalman filter (IMM-EKF) is constructed to predict the trajectory information of dynamic targets. The interactive multiple model Kalman filter comparison shows the accuracy of the IMM-EKF for predicting the maneuvering target. Then, the underwater tracking control of maneuvering target is realized by using MPC, which solves the problem of speed variable beyond the limit in linear quadratic regulator (LQR) algorithm, and makes the tracking result more stable and reliable. Simulation results show that the proposed target tracking control method is effective and feasible.
Underwater Maneuvering Target Tracking Control Based on Model Predictive Control
Lect. Notes Electrical Eng.
International Conference on Autonomous Unmanned Systems ; 2021 ; Changsha, China September 24, 2021 - September 26, 2021
Proceedings of 2021 International Conference on Autonomous Unmanned Systems (ICAUS 2021) ; Kapitel : 102 ; 1036-1045
2022-03-18
10 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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