Autonomous underwater vehicle positioning control: a velocity form LPV-MPC approach

Isah A. Jimoh, Hong Yue, Ibrahim B. Küçükdemiral

Research output: Chapter in Book/Report/Conference proceedingConference contribution book

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In this work, the positioning control of an autonomous underwater vehicle (AUV) is considered for docking operations in the presence of varying tidal currents. The AUV model is described by a dynamic model and a kinetic model, both are linear parameter varying (LPV). A velocity form LPV model predictive control (LPV-MPC) scheme is proposed, in which the AUV dynamic model is used for the states and the kinetic model is used for the output. The interdependence of AUV kinematic model and dynamic model is exploited to avoid increased state dimension. The complete velocity form controller design enables the cancellation of disturbance effects through the use of the AUV's velocity vector increment for predicting the future evolution of the system. Compared to the original predictive control for the Naminow-D AUV that uses a time-varying Kalman filter for state estimation to approximate disturbances, the proposed algorithm does not require an estimator to eliminate unknown current disturbance, therefore simplifies design and implementation. Simulation studies show the merit of the proposed controller over the original Naminow-D predictive controller especially in terms of improved transient response and reduced sensitivity to time-varying external disturbances.
Original languageEnglish
Title of host publication22nd IFAC World Congress
Subtitle of host publicationProceedings
EditorsHideaki Ishii, Yoshio Ebihara, Jun-ichi Imura, Masaki Yamakita
Place of PublicationLaxenburg
Number of pages6
Publication statusPublished - 22 Nov 2023
EventIFAC World Congress 2023: The 22nd World Congress of the International Federation of Automatic Control - Yokohama, Japan
Duration: 9 Jul 202314 Jul 2023
Conference number: 22

Publication series

PublisherInternational Federation of Automatic Control (IFAC)
ISSN (Print)2405-8963


ConferenceIFAC World Congress 2023
Internet address


  • autonomous underwater vehicle (AUV)
  • positioning control
  • linear parameter varying (LPV) systems
  • complete velocity form
  • model predictive control


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