Abstract
This paper presents a study on the application of Linear Parameter Varying Model Predictive Control (LPV-MPC) to the control of an Autonomous Underwater Vehicle (AUV). The study focuses on the development of an LPV-MPC-based control system that enables the AUV to follow given angular rate commands. The proposed control algorithm uses the mathematical model of the AUV. The paper also explains how to implement the proposed control algorithm and presents its results in a simulation environment.
| Original language | English |
|---|---|
| Pages (from-to) | 116-123 |
| Number of pages | 8 |
| Journal | WSEAS Transactions on Systems and Control |
| Volume | 20 |
| DOIs | |
| Publication status | Published - 2025 |
Bibliographical note
Publisher Copyright:© 2025, World Scientific and Engineering Academy and Society. All rights reserved.
Keywords
- AUV
- model predictive control
- motion control
- navigation
- nonlinear dynamics
- underwater vehicle