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.
关键词
仿生海豚/模型预测控制/路径跟踪/反步控制
Key words
bionic dolphins/model predictive control(MPC)/path tracking/backstepping control
维普
万方数据