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