AUV Trajectory Tracking Based on Nonlinear Model Predictive Control

This paper focuses on the trajectory tracking of the autonomous underwater vehicle (AUV). To find a feasible method to reduce the computational burden, a model predictive control algorithm is designed. Firstly, the coupled nonlinear AUV models is convert into second-order affine forms using state feedback linearization method. Then, the original optimization problem is transformed into several subproblems. The amount of computation can be significantly reduced by solving the subproblems. In addition, the stability analysis based on Lyapunov method proves the nominal stability of the controllers. Finally, the effectiveness of the controller is verified by simulation experiments.