Nonlinear Model Predictive Control of an Autonomous Underwater Vehicle for Terrain Profile Tracking

This study addresses the three-dimensional non-linear model predictive control (NMPC) of autonomous under-water vehicles (AUVs) for tracking undulating terrain profiles. We create waypoints using terrain information and generate a smooth guidance path using the B-spline function. The NMPC algorithm is formulated and the resulting nonlinear optimization problem is solved using an optimization solver. A numerical simulation has been conducted to verify the efficiency of the controller, and the results are shown.