Modeling and model predictive control of AUV longitudinal motion under wave disturbances

The problem of the depth control effected by the wave force was studied regarding of the near-surface-sailing AUV. Based on the Froude-Krylov Hypothesis, the random wave fore and moment were calculated by the strip theory and added to the equations of AUV as well. Under this circumstance, the linear vertical plane model of AUV was built. Simulations were made by the use of the MPC theory to satisfy the depth and pitch angle with their desired values. The simulation results show that by using the MPC theory, the controller has an obvious effect on overcoming the interference of the waves. The system has good dynamic performance.