Research on UUV Fixed-point Hovering Control Based on Model Predictive Control

The unmanned underwater vehicle (UUV) fixed-point hovering control provides the important technical foundation for various military and civilian applications of UUV. According to the nonlinearity of UUV model, an UUV fixed-point hovering controller was designed based on nonlinear model predictive control algorithm. Firstly, the kinetic and dynamical model of UUV of Four Degree of Freedom (4-DOF) was established, and the controller's prediction model was given based on the state space model. Secondly, according to the given performance index, the Taylor series expansion and Lie derivative are used to solve the optimal control law under the continuous time state, the UUV fixed-point hovering control is achieved. Finally, a simulation experiment was carried out, the result proves effectiveness of the design of the fixed-point hovering controller.