MPC-based Motion Control of Underwater Vehicle with Fixed Depth

Abstract:
Aiming at the underactuated and nonlinear system of underwater vehicle, this paper studies the control of depth-fixing motion. The first is to analyze the kinematics and dynamics of the underwater vehicle, so as to establish the corresponding depth-fixing motion control model. Secondly, the controller based on the model predictive control algorithm is designed in the Simulink platform to realize the depth-fixing motion control and anti-disturbance test of the underwater vehicle. At the same time, the PID algorithm is introduced to compare the step response of the two. Finally, according to the simulation results, it can be concluded that the controller based on the MPC algorithm can effectively reduce the overshoot of the underwater vehicle, the control system can converge to the target value faster, and has strong anti-interference ability.