Distributed Model Predictive Control for Cooperative Diving of Multi-AUV Systems

The autonomous underwater vehicle (AUV) technique, which was widely used in various scenes, has become one of the research hotspots in recent years. This paper applies a distributed model predicted control (DMPC) approach for cooperative diving control of multi-AUV systems with bounded control input and state constraints. Within the DMPC framework, each AUV exchanges assumed state trajectories with neighbors and solves a local open-loop constrained optimization problem to obtain the optimal control input. The effectiveness of the method is validated in three simulation scenarios.