Depth Control of Autonomous Vehicle using MPC

Abstract

In this paper, an overview of Autonomous Underwater Vehicles (AUV) is presented whichdescribes the development and verification ofsix degree of freedom, non-linear simulation model. A nonlinear model of AUV is obtained throughkinematics and dynamics equations which are linearized about an operating point to get alinearized horizontal plane model.The system is modelled using INFANTE AUV hydrodynamic parameters that are controlled by path following control using MATLAB. The paper is concerned with depth control of AUV using Model Predictive Control without considering disturbances with the design of control laws that force a vehicle to reach and maintain a fixed position in vertical plane. The depth and pitch angle control of body fixed z-axis to a fixed point using MPC toolbox of MATLAB is shown in the paper. The paper summarizes the controller design steps, describes a technique for its practical implementation, and presents experimental results obtained with the INFANTE AUV using MATLAB.