Tracking Model Predictive Control Paradigm for Underwater Optical Communication

High-precision positioning of two underwater mobile robots is investigated in this work. To achieve good performance communication, control algorithms are implemented to maintain the position receiver robot aligned with that transmitter presence measurement noise and process uncertainty. Although recent research works have successfully integrated Extended Kalman Filter (EKF) estimator track desired transmitter, other aspects besides convergence equilibrium point such as operational constraints input were not taken into account within these controllers. Such inability may degrade controlled process. Motivated by above considerations, a tracking Model Predictive Control (MPC) an EKF-based developed both estimate states online drive actual system while meeting state constraints. The closed-loop stability recursive feasibility proposed MPC scheme rigorously proved. demonstrate applicability design, conventional Proportional (P), Integral Derivative (PID), Linear Quadratic Regulator (LQR) controllers compared.