关键词: 水下机器人, 网箱巡检, 模型预测控制

Abstract: Aiming at the high cost and low efficiency of manual periodic inspection of aquaculture cages during the aquaculture process， a method based on MPC for ROV （Cable Remote Control Underwater Robot） aquaculture cage inspection trajectory tracking control is proposed. Firstly， the physical and kinematic constraints of the ROV based on actual conditions are included， and combining the ROV kinematic and dynamic models， a speed controlled MPC controller is designed. Using the traditional PID （Proposal Integration Difference） control algorithm as the baseline， a model-free PID controller is designed. Secondly， the simulation experiment of two-dimensional horizontal track and three-dimensional space track tracking in cage aquaculture environment is carried out and compared. Finally， the experimental results show that the proposed method has advantages such as good trajectory tracking performance， stable ROV operation， and small fluctuations. The method proposed in this paper for solving the low efficiency of aquaculture cage inspection provides an advanced inspection solution for the aquaculture industry.

Key words:  , underwater robots, cage inspection, model predictive control