Trajectory Tracking and Obstacle Avoidance Control of Unmanned Underwater Vehicles Based on MPC

To solve the problem of autonomous obstacle avoidance in unmanned underwater vehicle (UUV) trajectory tracking, the model predictive control algorithm is applied to design obstacle avoidance controller from the point of view of trajectory re-planning. Deal with the reference target position, the obstacle information and the actual state information of the underwater vehicle, the obstacle avoidance controller plans a local reference trajectory which can avoid the obstacles. Based on the study of kinematics control, the trajectory tracking and obstacle avoidance control at the dynamic level is further expanded. Focusing on the modeling uncertainty and current disturbance in underwater environment, a model prediction and sliding mode cascaded control algorithm for UUV trajectory tracking is proposed. Considering about the constraint ability of model predictive control and the robustness of sliding mode control algorithm, the controller can realize robust trajectory tracking and obstacle avoidance control of underwater vehicle. The simulation results show that the proposed algorithm can effectively solve the speed jump and thruster saturation problem, and realize the smooth and stable trajectory tracking and obstacle avoidance control.