THE AUTOPILOT UNDERWATER VEHICLE FOR DEPTH CONTROL

Tóm tắt

Model Predictive Control  (MPC)   is one of the modern control methods, which has  many advantages. Nowadays, this control method has been being researched by scientists in applying it to controllers, which have high intelligence level. This article presents the Underwater Vehicle dynamic Model (UVM). Based on which, the equation of state is built to define one of the Underwater Vehicle  position parameters, which is its depth. In the result, a new solution applying MPC to  the Autopilot  Underwater Vehicle (AUV) in case of adjusting  its depth without the operator is proposed. The aim of this method is to improve the level of AUV intelligence. The results of simulation in the Matlab software shows that this solution is advantageous and feasible.