MPC Algorithm Based Trajectory Tracking Control for Deep-sea Mining Vehicles
A trajectory tracking controller based on the Model Predictive Control(MPC)algorithm is proposed to address the problem of deep-sea mining vehicles deviating from their predetermined paths,due to the influence of complex envi-ronments when travelling on the seabed.The kinematic model of the deep-sea mining vehicles is simulated in Matlab and the Matlab-RecurDyn co-simulation analysis is carried out using the multi-body dynamics of the deep-sea mining vehicles.The simulation results show that the trajectory tracking controller has a good tracking effect in both linear and curvilinear conditions,and the results of the co-simulation match the real environment than the numerical simulation.
万方数据
维普
