The Tracking Control of Unmanned Underwater Vehicles Based on QPSO-Model Predictive Control

摘要

For the trajectory tracking control of Unmanned Underwater Vehicles (UUV), an improved Model Predictive Control (MPC) method based on Quantum-behaved Particle Swarm Optimization (QPSO) is proposed. The concept of trajectory tracking is given firstly in this paper. Then QPSO-MPC is employed to realize the tracking control. The QPSO problem is suggested to optimization problem of minimizing the objective function with the conditions of satisfying the control constraints. The simulation results which is under the two-dimensional situation show that QPSO-MPC can effectively solve the speed jump problem. More effective and feasible for trajectory tracking problem compared with backstepping control method.