Set Point Tracking Control of a Remotely Operated Vehicle Using Model Predictive Control

Abstract

This paper considers kinematics and dynamics of Remotely Operated Underwater Vehicle (ROV) to control position, orientation and velocity of the vehicle. Cascade control technique has been applied in this paper. The pole placement technique is used in inner loop of kinematics to stabilize the vehicle motions. Model Predictive control is proposed and applied in outer loop of vehicle dynamics to maintain position and velocity trajectories of ROV. Simulation results carried out on ROV shows the good performance and stability are achieved by using MPC algorithm, whereas sliding mode control loses its stability when ocean currents are high. Implementation of proposed MPC algorithm and stabilization of vehicle motions is the main contribution in this paper.

Optimization of the Energy Consumption of Depth Tracking Control Based on Model Predictive Control for Autonomous Underwater Vehicles

“…For its attractive features of the receding horizon control principle and the ability to handle constraints explicitly [30], MPC has been implemented in the control of AUVs and remotely operated vehicles (ROVs). A simulation in [31,32,33] confirms the feasibility of MPC. Experiments with an MPC controller for AUVs or ROVs have been carried out, and the experimental results provide clear evidence to show that MPC can achieve a high control accuracy [34,35,36].…”

Experimental Evaluation on Depth Control Using Improved Model Predictive Control for Autonomous Underwater Vehicle (AUVs)

“…Γ y and Γ u are weight diagonal matrices for the predictive error vector and control increment vector, respectively, which are usually taken as constant matrices with compatible dimensions [ 16 , 22 , 32 ]. In this paper, according to [ 16 , 23 , 32 ], Γ y is an identity matrix, while the weight Γ u is adjusted based on the error, and more details will be given in the later.…”

“…In [ 21 ], a novel MPC scheme using reduced dynamical model is proposed to investigate the motion control problem of AUV, and the simulation result demonstrates the validity of the scheme in three-dimensional space. MPC based on the state space model is applied to improve the control performance of AUV or remote operated vehicle (ROV) in [ 22 , 23 ], and simulation proves the effectiveness of MPC in heading and depth control. Reference [ 24 ] gave the simulation results based on the MPC-based controller and confirmed the feasibility of the MPC-based controller in comparison with the results that are based on PID controller.…”