Mehmet Avinc, Chingiz Hajiyev, "Linear Parameter Varying Model Predictive Control of an Autonomous Underwater Vehicle," WSEAS Transactions on Systems and Control, vol. 20, pp. 116-123, 2025, DOI:10.37394/23203.2025.20.14
Mehmet Avinc, Chingiz Hajiyev. Linear Parameter Varying Model Predictive Control of an Autonomous Underwater Vehicle.
WSEAS Transactions on Systems and Control. 2025;20:116-123. 10.37394/23203.2025.20.14
WSEAS Transactions on Systems and Control
Print ISSN: 1991-8763, E-ISSN: 2224-2856
Volume 20, 2025
Linear Parameter Varying Model Predictive Control of an Autonomous Underwater Vehicle
Authors: ,
Abstract: This paper presents a study on the application of Linear Parameter Varying Model Predictive Control (LPV-MPC) to the control of an Autonomous Underwater Vehicle (AUV). The study focuses on the development of an LPV-MPC-based control system that enables the AUV to follow given angular rate commands. The proposed control algorithm uses the mathematical model of the AUV. The paper also explains how to implement the proposed control algorithm and presents its results in a simulation environment.
Keywords:
underwater vehicle, nonlinear dynamics, motion control, model predictive control, navigation, AUV
Pages: 116-123 WSEAS Transactions on Systems and Control, ISSN / E-ISSN: 1991-8763 / 2224-2856, Volume 20, 2025, Art. #14 DOI: 10.37394/23203.2025.20.14
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