Trajectory Tracking for Autonomous Underwater Vehicle Based on Model-Free Predictive Control

机译：基于无模型预测控制的自主水下航行器轨迹跟踪

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Model-free predictive control is a novel data-driven control approach. It can calculate directly the control input by using a great deal of input and output datasets. Moreover, compared with the conventional model predictive control, it does not need to construct a precise mathematical model. In this work, we propose the model-free predictive control to the motion control of the autonomous underwater vehicle(AUV). The nonlinear motion control problem of AUV is effectively solved and the proposed approach can enhance the performance of trajectory tracking for AUV. At last, we demonstrate the availability of this method by the numerical simulations of trajectory tracking.

机译：无模型预测控制是一种新颖的数据驱动控制方法。它可以使用大量输入和输出数据集直接计算控制输入。而且，与传统的模型预测控制相比，它不需要构建精确的数学模型。在这项工作中，我们将无模型预测控制提出给自主水下航行器（AUV）的运动控制。有效解决了AUV的非线性运动控制问题，所提方法可以提高AUV的轨迹跟踪性能。最后，通过轨迹跟踪的数值模拟证明了该方法的有效性。

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《International Conference on High Performance Switching and Routing》|2019年|1-6|共6页
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Weiwei Xu; Yuchen Xiao; Hongran Li; Jian Zhang; Heng Zhang;
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Predictive control; Predictive models; Mathematical model; Trajectory tracking; Conferences; Trajectory;

机译：预测控制;预测模型;数学模型;轨迹跟踪;会议;轨迹;

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1. Lyapunov-based model predictive control trajectory tracking for an autonomous underwater vehicle with external disturbances [J] . P. Gong, Z. Yan, W. Zhang, Oceanographic Literature Review . 2021,第7期

机译：基于Lyapunov的模型预测控制轨迹跟踪外部干扰的自主水下车辆
2. Lyapunov-based model predictive control trajectory tracking for an autonomous underwater vehicle with external disturbances [J] . Gong Peng, Yan Zheping, Zhang Wei, Ocean Engineering . 2021,第Jula15期

机译：基于Lyapunov的模型预测控制轨迹跟踪外部干扰的自主水下车辆
3. Trajectory Tracking Control for Autonomous Underwater Vehicles Based on Fuzzy Re-Planning of a Local Desired Trajectory [J] . IEEE Transactions on Vehicular Technology . 2019,第12期

机译：基于局部期望轨迹模糊重新规划的自主水下航行器轨迹跟踪控制
4. Trajectory Tracking for Autonomous Underwater Vehicle Based on Model-Free Predictive Control [C] . Weiwei Xu, Yuchen Xiao, Hongran Li, International Conference on High Performance Switching and Routing . 2019

机译：基于无模型预测控制的自主水下车辆轨迹跟踪
5. Longitudinal Trajectory Tracking Analysis for Autonomous Electric Vehicles Based on PID Control [D] . Amiri, Hossein. 2021

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6. Optimization of the Energy Consumption of Depth Tracking Control Based on Model Predictive Control for Autonomous Underwater Vehicles [O] . Feng Yao, Chao Yang, Mingjun Zhang, 2019

机译：基于模型预测控制的自动水下航行器深度跟踪控制能耗优化
7. A Designing Method of Underwater Controller based on Trajectory-tracking Control law for Underwater Profile Monitoring Vehicle [O] . Zhang Wen-xia, Yuan Jian, A Zhou Zhonghai 2016

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8. Trajectory Design for Autonomous Underwater Vehicles Based on Ocean Model Predictions for Feature Tracking [R] . Smith, R. N., Chao, Y., Jones, B. H., 2009

机译：基于海洋模型预测的特征跟踪自主水下航行器弹道设计

Trajectory Tracking for Autonomous Underwater Vehicle Based on Model-Free Predictive Control

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