MPC for 3-D Trajectory Tracking of UUV with Constraints Using Laguerre Functions

In this paper, a Three-Dimension (3-D) trajectory tracking method based on Model Predictive Control (MPC) with Laguerre functions was designed for the Underwater Unmanned Vehicle (UUV) with Constraints. Firstly, the traditional MPC was designed for 3-D trajectory tracking of UUV. Then the Laguerre functions were used in MPC, and the optimization of multiple control inputs was converted into the optimization of a small number of Laguerre coefficients, which can effectively reduce the calculation amount of the algorithm while ensuring the tracking dynamic performance. Then the stability analysis based on the Lyapunov method proved the stability of the controller. Finally, the simulation resulted verify the feasibility and effectiveness of the algorithm. Compared with the traditional MPC, using of Laguerre Functions in MPC can effectively reduce the steady-state error of the position tracking, reduce the calculation time, and improve the tracking efficiency.