Application of Model Predictive Control to Underwater Vehicle Surge Motion Control

The paper focuses on modeling and control of underwater robot propulsion system. It consists of surge motion, propeller shaft, propeller axial flow and motor. A permanent magnet synchronous motor (PMSM) has been considered for propulsion of underwater vehicle. The dynamic model of PMSM has been integrated with surge motion. A Model Predictive Control (MPC) has been developed for underwater robot cascaded motion. The speed of propeller and the vehicle have been satisfactorily controlled using MPC. The simulation results are presented using MATLAB.