Aiming at the control problem of underactuated and large inertia unmanned underwater vehicle (UUV), based on the full digital model of UUV, the horizontal control of UUV is decoupled into path following and course control. The virtual guidance method of line of sight (LOS) navigation in Serret-Frenet coordinate system (S_F) is used for path following problem, and the model predictive control (MPC) method is used for heading control problem. Based on the more accurate hydrodynamic model, this method not only uses the advantage of model prediction to predict the effect of the current control strategy after multiple steps, so as to improve the control safety of the large inertial platform, but also avoids the control divergence problem of MPC in solving the nonlinear system with large degree of freedom. Through the simulation experiment, it is proved that the designed controller has the characteristics of low calculation consumption and high control accuracy for large inertia underwater vehicle.


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    Title :

    Path Tracking Control of UUV Based on LOS-MPC Decoupling Control


    Additional title:

    Lect. Notes Electrical Eng.


    Contributors:
    Wu, Meiping (editor) / Niu, Yifeng (editor) / Gu, Mancang (editor) / Cheng, Jin (editor) / Ma, Bin (author) / Zhan, Kangyi (author) / Yu, Zibin (author) / He, Fenfen (author)

    Conference:

    International Conference on Autonomous Unmanned Systems ; 2021 ; Changsha, China September 24, 2021 - September 26, 2021



    Publication date :

    2022-03-18


    Size :

    12 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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