Linear Parameter-Varying Model Predictive Control of AUV for Docking Scenarios

A control system for driving an Autonomous Underwater Vehicle (AUV) performing docking operations in presence of tidal current disturbances is proposed. The nonlinear model the vehicle has been modelled a Linear Parameter-Varying (LPV) form. This suitable design using model-based approach. LPV was used Model Predictive Control (MPC) computing set forces and moments model. LPV-MPC action mapped into reference signals actuators by Thrust Allocation (TA) algorithm. based on models their position orientation vehicle’s hull. structural decomposition MPC TA reduces computational burden involved law on-line embedded board. Both algorithms use linear angular positions, velocities that are estimated Kalman Filter (KF). proposed tested different scenarios various acting as unmeasured disturbance. simulation results show controller effective controlling AUV over range meeting constraints specifications.