Position and Velocity control of Remotely Operated Underwater Vehicle using Model Predictive Control

Abstract

Present paper consists of the attempt to apply of model predictive control on the position and velocity control of Remotely Operated Underwater Vehicle (ROUV). Linear Quadratic Regulator (LQR) method has been applied to stabilize the ROV model. Further Model Predictive Control has been applied to improve the position and velocity trajectories of the ROV. Simulation results carried out on ROUV shows that good performance and stability are achieved by the MPC algorithm, whereas sliding mode control lose its stability when ocean currents are high.