SLIDING MODE BASED PREDICTIVE CONTROLLER OF A SPHEROIDAL UNDERWATER VEHICLE

This paper focuses on hydrodynamic modeling and control of spheroidal underwater vehicle. The vehicle considered in this is appendage free unstable. Water jet propulsion system used dynamics the highly unstable due to munk moment. shape robot nuclear reactor inspection, port security defence ocean surveillance where external appendages are not required. A new innovative technique, Sliding mode based model predictive introduced paper. technique stabilize once stabilized it easy apply Model Predictive Control (MPC). heading Simulation results show that performance better than simple PD state feedback controller.