Abstract

In this paper, a disturbance observer-based model predictive control system is developed for cross tracking of the underactuated autonomous underwater vehicle under uncertain current disturbances. A high-gain observer is used in the proposed controller to estimate the current velocity, external force and torque. Based on the disturbance estimates, a nonlinear model predictive controller is designed considering the input constraints. The control inputs are solved by optimizing the predicted trajectories of the system under input constraints within a certain time horizon. The simulation results are provided to verify the effectiveness of the proposed control algorithm.

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