Abstract
This paper focuses on hydrodynamic modeling and control of spheroidal underwater vehicle. The vehicle considered in this paper is appendage free and unstable. Water jet propulsion system is used in this vehicle. The dynamics of the vehicle is highly unstable due to munk moment. The spheroidal shape underwater robot is used in nuclear reactor inspection, port security inspection, defence and ocean surveillance where external appendages are not required. A new and innovative control technique, Sliding mode based model predictive control is introduced in this paper. Sliding mode control technique is used to stabilize the vehicle and once the vehicle model is stabilized it is easy to apply Model Predictive Control (MPC). Model Predictive control technique is used to control the heading of spheroidal underwater vehicle. Simulation results show that the Sliding mode based predictive control performance is better than simple PD control and state feedback controller.
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