Model Predictive Control of Autonomous Underwater Vehicles Based on Horizon Optimization

sudirman sudirman, Mochammad Rameli, Rusdhianto Effendi

Abstract

Heading control of Autonomous Underwater Vehicle (AUV) using Model Predictive Control (MPC) gives a good performance. Varying the length of the horizon provides a variety of performance. This paper is made in order to find out how many optimal horizons are needed to obtain the highest efficiency of energy use in AUV. Test results show a positive correlation between the length of the horizon and the amount of energy used. The optimal horizon obtained is then tested on several different trajectories.

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