Path Following Model Predictive Control of a Coupled Autonomous Underwater Vehicle

TL;DR

This paper presents a novel 3D path following control system for autonomous underwater vehicles using model predictive control and LOS guidance, effectively handling coupled motions and disturbances.

Contribution

It introduces a coupled 3D path following control approach that avoids decoupling assumptions, enhancing robustness against environmental disturbances.

Findings

The AUV successfully follows waypoints under time-varying disturbances.

The control system maintains steady steering at a constant surge speed.

Simulation results demonstrate improved path tracking accuracy.

Abstract

The operation of an autonomous underwater vehicle (AUV) faces challenges in following predetermined waypoints due to coupled motions under environmental disturbances. To address this, a 3D path following guidance and control system is developed in this work based on the line-of-sight (LOS) guidance method. Conventionally, the 3D path following problem is transformed into heading and depth control problems, assuming that the motion of the vehicle is decoupled in horizontal and depth coordinates. The proposed control system design avoids this simplifying assumption by transforming the problem into a 3D position and orientation tracking problem. This design is achieved by computing a 2D horizontal coordinate based on the desired heading and then computing a corresponding LOS depth coordinate. A model predictive controller (MPC) is then implemented using the 3D LOS coordinate and the computed orientation vector. The MPC obtains a robust control by solving a minimax optimisation problem considering the effects of unknown ocean disturbances. The effectiveness of the proposed guidance and control system is demonstrated through the simulation of a prototype AUV system. Numerical results show that the AUV can follow predetermined waypoints in the presence of time-varying disturbances, and the system is steered at a constant surge speed that is proportional to the radius of the circle of acceptance used to implement the guidance system.