A method of position and attitude control using model predictive controllers for underwater vehicles

摘要

PURPOSE: A control method of an underwater vehicle using a model predictive controller and the underwater vehicle with the model predictive controller reduce costs by controlling the location and position of the underwater vehicle with optimized energy. CONSTITUTION: A state estimator (4) predicts the location and position of an underwater vehicle by using information of an inertial measurement unit (IMU), a speedometer, and a depth gauge (3). A state data storage unit stores the current values of a rudder (10) and/or a propeller (11) and control input values of the rudder and/or the propeller at the past time and the present time. The state data storage unit stores an estimated location value and an estimated position value of the underwater vehicle at the past time and the present time by receiving an estimated location value and an estimated position value at the moment. A model prediction controller (13) computes the position and location of an underwater vehicle main body (12) and provides the same to the propeller and the rudder. [Reference numerals] (10) Rudder; (11) Propeller; (12) Underwater vehicle main body; (13) Model prediction controller; (2) Speed gauge; (3) Depth gauge; (4) State estimator; (5) State data storage; (AA) Water surface