Research on Static Fault-tolerant Control Method of UUV Based on MPC in Two Dimension

摘要

In this paper, the motion control of unmanned underwater vehicle (UUV) in two-dimensional state is studied, and a new control method, model prediction algorithm (MPC), is proposed. The model prediction algorithm is based on the linear description of the system error model, which can solve the sequence quadratic programming problem online and improve the real-time performance of the control system. The simulation results show that the fault-tolerant control method proposed in this paper is effective and feasible, which can make the unmanned underwater vehicle keep the original working state in the faulty situation.