Generalized predictive control with constraints for autonomous underwater vehicle depth control

The technology of AUV maneuvering control is important to the integrate performance in AUV voyage. This paper focus on the predictive control with constrains for AUV maneuvering, which aims to solve the problem of constrains in the AUV maneuvering based on predictive control theory. There are several constrains in depth control such as maximum rudder speed and deflection, maximum pitch et al. The multivariable predictive control with constrains is applied to the depth control. Pitch with different constrains shows several control modes of depth. Even if the manipulated variables remain only one, either of bow rudder or stern rudder, the depth was still under control. The autopilot performs well which is valid in experiment.