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Trajectory tracking of unmanned underwater vehicles based on model predictive control in two dimension

Trajectory tracking of unmanned underwater vehicles (UUV) in two-dimension is researched by analyzing and establishing a two-dimension kinematic model of UUV. A new approach of trajectory tracking is posed, which is called model predictive control. Model predictive control is used based on linear description of the error model and it has to satisfy the control constraints. The optimization problem of minimizing the objective function is converted to the a quadratic programming problem, which solves the phenomenon of speed jump problem effectively. The simulation experiments show that model predictive control is valid and feasible in solving trajectory tracking of UUV in two-dimension, when compared with the method of backstepping.