Crest of the Royal National Institution of Naval Architects - Click to return to the homepage

The Royal Institute of Naval Architects

Man Energy Hybrid

Alfa-Laval Oct 2019

IJME 459

Paper Title: Model Predictive Control of an AUV Using De-Coupled Approach



M P R Prasad and A Swarup, National Institute of Technology, Kurukshetra, India


This paper considers the decoupled dynamics and control of an Autonomous Underwater Vehicle (AUV). The decoupled model consists of speed, steering and depth subsystems. Generally AUV model is unstable and nonlinear. The central theme of this paper is the development of model predictive control (MPC) for underwater robotic vehicle for ocean survey applications. The proposed MPC for decoupled structure can have simple implementation. Simulation results have been presented which confirm satisfactory performance. Decoupled approach is well suitable for applying control.


Transactions RINA, Vol 160, Part A1, International Journal Maritime Engineering, Jan-Mar 2018 

DOI Number

DOI No: 10.3940/rina.ijme.2018.a1.459

Search and Order IJME papers

All International Journal of Maritime Engineering (IJME) papers are listed in the RINA Publications Database. You can search the database by author name and paper title. Publications may be ordered and paid for online. Other publications are also listed, some of which may be downloaded free of charge. Follow the link to Search Publications & Order.


Marine 4.0

AHOY Europort 2019

Posidonia 2019



Marintec 2019

Man Energy Survey - Sept