Hybrid Control Strategy for Underactuated AUVs to Overcoming Environmental Uncertainties

Autonomous Underwater Vehicles (AUVs) have transformed marine operations, from deep-sea exploration to environmental monitoring. However, the unpredictable underwater currents and environmental uncertainties pose formidable challenges, especially for underactuated AUVs. This paper introduces a groundbreaking hybrid control strategy amalgamating Line-of-Sight (LOS), Linear Discrete Model Predictive Control (LDMPC), and the Pole-Placement Method. This triad approach is designed to leverage the unique strengths of each method, offering superior resilience against environmental vagaries. Through rigorous simulations, mainly mimicking ocean current disturbances, our results demonstrate the strategy’s exceptional robustness. The AUV’s trajectory mirrored the desired path in pristine conditions, emphasizing the control strategy’s effectiveness. Despite disturbances, the strategy proved adept at counteracting external disruptions, ensuring steadfast and secure navigation. This research marks a significant stride towards enhancing AUVs’ operational efficiency and safety in intricate marine settings.