This paper introduces a homing and docking control of autonomous underwater vehicle (AUV) using model predictive control. There are many system uncertainties in modeling of AUV and disturbances in a deep sea. Therefore, model of AUV will be changed according to velocity of AUV, a sea current, circumstances of a sea, and etc. And many disturbances also are added to AUV systems in deep sea. Receding horizon tracking control (RHTC) is a kind of model predictive control and controller is recalculated by solving finite horizon optimal control problems at every time. Recalculated controller at every time is suitable for a system with changing systems parameters, sudden environment changes, or arbitrarily maneuvering target. Therefore, RHTC is one of the appropriate control methods to control AUV's motions. In this paper, regulating and tracking control of AUV are studied using RHTC to control homing and docking of AUV when launcher moves vertically and horizontally. Receding horizon tracking controller can manage systems with moving launcher because homing and docking paths of AUV and the position of launcher are updated and predicted at every time. Results are presented by simulations.


Nowadays, the necessity for working in underwater is increasing while an ocean development is progressing actively. Owing to resources in the ocean floor and military purposes, the demand of underwater working is occurring in many fields. There are many kinds of equipment for deepsea probes. Remotely Operated Vehicle (ROV) and Autonomous Underwater Vehicle (AUV) are representative ones of them. ROV is operated by human through the cable which is connected with a mother ship. Usually, ROV has a manipulator for work, but AUV, different from ROV, has several controllers and many kinds of sensors for dynamic motion so that it can complete the mission by itself.

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