Design of Line-of-Sight Guidance Law and a Constrained Optimal Controller for an Autonomous Underwater Vehicle

摘要

A line-of-sight (LOS) guidance law with an explicit model predictive control (MPC) is proposed for an underactuated autonomous underwater vehicle (AUV). The derived LOS law is based on quaternion angles thus avoids the problem of singularity inherited in Euler angles. The proposed guidance and control scheme is computationally inexpensive and generates a robust optimal control signal for AUV dynamics. In view of the practical implementation, the constraints on control planes and parametric uncertainties are taken into consideration while designing the proposed control law. The effectiveness of the proposed controller is verified by both simulation and experimentation using a prototype AUV developed in the laboratory. Subsequently, multiple experiments were conducted to ascertain the applicability of the proposed algorithm in a practical scenario.