MODEL PREDICTIVE CONTROL OF AN AUV USING DE-COUPLED APPROACH

This paper considers the decoupled dynamics and control of an Autonomous Underwater Vehicle (AUV). The decoupled model consists of speed, steering and depth subsystems. Generally AUV model is unstable and nonlinear. The central theme of this paper is the development of model predictive control (MPC) for underwater robotic vehicle for ocean survey applications. The proposed MPC for decoupled structure can have simple implementation. Simulation results have been presented which confirm satisfactory performance. Decoupled approach is well suitable for applying control.

Scientific Challenges and Present Capabilities in Underwater Robotic Vehicle Design and Navigation for Oceanographic Exploration Under-Ice

This paper reviews the scientific motivation and challenges, development, and use of underwater robotic vehicles designed for use in ice-covered waters, with special attention paid to the navigation systems employed for under-ice deployments. Scientific needs for routine access under fixed and moving ice by underwater robotic vehicles are reviewed in the contexts of geology and geophysics, biology, sea ice and climate, ice shelves, and seafloor mapping. The challenges of under-ice vehicle design and navigation are summarized. The paper reviews all known under-ice robotic vehicles and their associated navigation systems, categorizing them by vehicle type (tethered, untethered, hybrid, and glider) and by the type of ice they were designed for (fixed glacial or sea ice and moving sea ice).

Model Predictive Control of an AUV Using De-Coupled Approach

This paper considers the decoupled dynamics and control of an Autonomous Underwater Vehicle (AUV). The decoupled model consists of speed, steering and depth subsystems. Generally AUV model is unstable and nonlinear. The central theme of this paper is the development of model predictive control (MPC) for underwater robotic vehicle for ocean survey applications. The proposed MPC for decoupled structure can have simple implementation. Simulation results have been presented which confirm satisfactory performance. Decoupled approach is well suitable for applying control.