Model Predictive Governor-Based Output Feedback Control for Underwater Vehicle

In this paper, a model predictive governor-based output feedback controler is proposed to complete the 3D trajectory tracking of underwater vehicle. First, the desired velocity can be obtained by model prediction governoer under the constraints states. After that, an equivalent output injection sliding mode observer (SMO) is designed to estimate the unmeasured velocity wiht model uncertainties and unknown external disturbances. Based on that, the output feedback controller is designed to drive underwater vehicle to accomplish the precise velocity tracking. Finally, the effectiveness of the method is verified by simulation.