MPC-based path tracking control method for USV

When sailing in a complex marine environment, the heading motion and rolling motion of the unmanned surface vessel (USV) are strongly coupled. At the same time, the control of the USV is subject to wind, waves, and the interference effect of the flow. This paper studies the course control system of an unmanned ship with coupled nonlinearity and large interference, and designs a course tracking controller based on model predictive control (MPC). A mathematical model of ship motion under wind and wave interference is established, which is usually a nonlinear function. This control design greatly simplifies the control design process and is easy to apply to under-actuated USV. According to MMG mathematical model, the ship's dynamic model is established, and then the MPC algorithm is used to design the controller. Finally, MATLAB is used to simulate the model and control algorithm, and the results are given. The results show that the designed MPC heading tracking control algorithm shows good performance in tracking the accuracy of waypoints and can resist a certain degree of environmental interference.