Path tracking research of bionic dolphin based on MPC
Aiming at problem of underwater path tracking,the tracking control of bionic dolphin based on model predictive control(MPC)is studied.MPC is introduced on the basis of error model linearization,so that the bionic dolphin can effectively complete path tracking under the condition of satisfying control constraints.It also overcomes the speed jump and over limit problems of backstepping control algorithm.The current model is established,and the path tracking analysis is carried out for the presence or absence of current interference.Simulation and experiment show that the proposed tracking algorithm is effective and feasible in different environments.
bionic dolphinsmodel predictive control(MPC)path trackingbackstepping control
万方数据
维普
