A sliding mode control method based on model prediction is proposed to solve the problem of large tracking error of autonomous underwater vehicle(AUV)under the condition of uncertain model parameters and external ocean current disturbance.Firstly,based on Lyapunov's stability theory,a sliding mode controller is designed.Secondly,in order to efficiently use computing resources and improve the trajectory tracking performance of AUVs,a control framework combining sliding mode controller and model predictive control is designed.Then,considering the actuator saturation,the sliding mode tracking control law is used to construct shrinkage constraints on the control framework to ensure the stability of the closed-loop system.Finally,the simulation experiments show that compared with the sliding mode controller,the mean square tracking error of the proposed method is reduced by more than 60%when the model parameters are determined and there is no interference.When the restoring force parameters of the model are uncertain and there is ocean current interference,the mean square tracking error of the proposed method is reduced by more than 80%.The proposed method can overcome the influence of time-varying restoring force on the system and has a good suppression effect on ocean current interference,ensuring the robustness of the system.
autonomous underwater vehicletrajectory trackingmodel predictive controlsliding mode control
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