Nonlinear Model Predictive Control for Autonomous Underwater Vehicle Trajectory Tracking
- Resource Type
- Conference
- Authors
- Fontaine, Anne-Flor; Zhu, Danjie; Chen, Nuo; Pan, Ya-Jun
- Source
- 2023 IEEE 2nd Industrial Electronics Society Annual On-Line Conference (ONCON) On-Line Conference (ONCON), 2023 IEEE 2nd Industrial Electronics Society Annual. :1-6 Dec, 2023
- Subject
- Components, Circuits, Devices and Systems
Computing and Processing
General Topics for Engineers
Robotics and Control Systems
Signal Processing and Analysis
Autonomous underwater vehicles
Trajectory tracking
Predictive models
Prediction algorithms
Robustness
Optimization
Predictive control
Autonomous Underwater Vehicle
Nonlinear System
Model Predictive Control
Trajectory Tracking
- Language
This paper develops a trajectory tracking control method for an autonomous underwater vehicle (AUV) with four degrees of freedom (DOFs) using a Nonlinear Model Predictive Controller (NMPC). The NMPC is implemented for a nonlinear AUV system and an advanced CasADi framework is applied to accomplish the nonlinear optimization required in the control strategy. Simulations are conducted to verify the tracking effectiveness of the proposed control algorithm, where satisfactory accuracy and efficiency are performed even with physical constraints and environmental disturbances involved, thus guaranteeing the robustness of the method.