Different drive models of USV under the wind and waves disturbances MPC trajectory tracking simulation research

For USV (unmanned surface vessels) cruise trajectory problem, this paper makes the research for two different drive models under the wind and waves disturbances of trajectory tracking control. Firstly, the characteristics of the USV is analyzed, then establishes the full drive and underactuated drive motion models of USV under the wind and waves disturbances environment. Secondly, a series of constraints based on the models is set, and then uses the MPC (model predictive control) algorithm to forecast the USV cruise paths, in order to infinite close to the expected route. Finally using Matlab to simulate, tracking control results are obtained, and then analyzes the results. Through the above MPC controller simulation research, it can effectively tracking the USV trajectory under the different driving models. Therefore it ensures the safety of the USV cruise work smoothly according to the requirement and then promotes the application of the USV.