Abstract
The diving control of underactuated unmanned underwater vehicle (UUV) is mainly studied according to its manipulating characteristics. A linearized state-space for vertical plane of underactuated UUV is constructed to represent the nonlinear model that describes the dynamics. The controller for diving is designed based on Model Prediction Control with artificial bee colony algorithm in consideration of the elevator angle constraints. Finally, the diving control problem is treated as optimization problem under constraints using artificial bee colony algorithm. For unmeasured states, a state observer is introduced. The simulation results show that the controller designed with ABC-MPC can take the constraints of elevator angle into consideration and has higher control accuracy, which effectively reduces the cumulative effect of uncertainties.
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