Linear Parameter Varying Model Predictive Control of an Autonomous Underwater Vehicle

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.