A uuv cascade robust model predictive trajectory tracking control method and system

By employing a cascaded robust model predictive trajectory tracking control method, combined with outer-loop kinematic NMPC and inner-loop dynamics Tube-NMPC, the problems of insufficient accuracy, poor robustness, low real-time performance, and high energy consumption of UUVs in complex marine environments are solved, achieving high-precision trajectory tracking and hovering, and adapting to various types of UUV operations.

CN122195037APending Publication Date: 2026-06-12UNIV OF SHANGHAI FOR SCI & TECH
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
UNIV OF SHANGHAI FOR SCI & TECH
Filing Date
2026-04-08
Publication Date
2026-06-12

AI Technical Summary

Technical Problem

Existing UUV trajectory tracking and control methods suffer from insufficient accuracy, poor robustness, low real-time performance, or excessive energy consumption in complex marine environments, making it difficult to meet the requirements for high-precision trajectory tracking and hovering.

Method used

A cascaded robust model predictive trajectory tracking control method is adopted. By using the cascaded structure of outer-loop kinematic NMPC and inner-loop dynamic Tube-NMPC, combined with a disturbance observer, feedforward compensation is achieved. A two-stage stepped control parameterization strategy is designed to reduce the dimensionality of optimization variables and ensure the real-time performance and robustness of the controller.

Benefits of technology

Significantly improves trajectory tracking and hovering accuracy, enhances anti-disturbance robustness, meets engineering application requirements for real-time control, is more energy-efficient, extends thruster lifespan, and is adaptable to various UUV operation needs.

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Abstract

The application provides a kind of UUV cascade robust model prediction trajectory tracking control method and system, relate to unmanned underwater vehicle (UUV) high-precision trajectory tracking and hovering control technology field in complex marine environment. In view of the strong nonlinearity of UUV dynamics, time-varying of ocean current disturbance and low precision, poor robustness of traditional control, etc. The outer ring kinematics NMPC + inner ring dynamics Tube-NMPC cascade structure is constructed, combined with low-pass filter disturbance observer to realize feedforward compensation; Two-stage parameterization strategy is used in inner and outer ring to reduce optimization dimension, combined with fmincon hot start to improve real-time performance, thrust constraint is realized on-line shrinkage through LQR feedback gain, and the robustness of the system is enhanced. Through simulation verification, the pose tracking accuracy is improved by 25%~38%, the average position error of terminal hovering is less than or equal to 5cm, the energy consumption is much lower than that of traditional algorithm, the thrust output is smooth, and it can adapt to various UUV operation scenarios, with high engineering application value.
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