Model Predictive Control with Block Matrix for Unmanned Surface Vehicles Trajectory Tracking

In order to work out the matter of long calculation time and poor real-time performance of trajectory tracking controller designed by Model Predictive Control (MPC), a model predictive control trajectory tracking based on variable step size in control horizon is proposed by means of move blocking. Firstly, changing of control horizon step size through move blocking. Then, integrating it into the solution process of quadratic programming and reconstructing objective function form. So as to cut the amount of variables to be solved in the solution process and reduce the solution calculation time. Finally, the comparison experiments of MPC with move blocking for trajectory tracking control of Unmanned Surface Vehicle (USV) and MPC without move blocking for trajectory tracking control of USV are designed. The results show that compared with MPC without move blocking, the average calculation time is reduced by 15.79%.