The first section of this chapter presents an NMPC strategy for underwater robotic vehicles operating under various constraints. The purpose of the controller is to guide the vehicle towards specific way -points. Various constraints such as obstacles, workspace boundaries and control input saturation as well as predefined upper bound of the vehicle velocity (requirements for several underwater tasks such as seabed inspection scenario and mosaicking) are considered during the control design. The proposed scheme incorporates the full dynamics of the vehicle in which the ocean currents are also involved. The controller is designed in order to find the optimal thrusts required for minimizing the way -point tracking error. Moreover, the controlinputs calculated by the proposed approach are formulated in a way that the vehicle will exploit the ocean currents, when they are in favor of the way -point tracking mission, which results in reduced energy consumption by the thrusters. In the second part of this chapter, novel position- and trajectory -tracking control schemes for AUVs are presented. The proposed controllers do not utilize the vehicle's dynamic model parameters and guarantee prescribed transient and steady-state performance despite the presence of external disturbances and kinematic constraints for the case of underactuated vehicles. Moreover, through the appropriate selection of certain performance functions, the proposed scheme can also guarantee the satisfaction of motion and performance constraints imposed by the desired task.

Chapter Contents:

• 3.1 Introduction
• 3.2 MPC for underwater vehicles
• 3.2.1 Preliminaries and problem formulation
• 3.2.1.1 Notation
• 3.2.1.2 Mathematical modeling
• 3.2.1.3 Problem formulation
• 3.2.2 Methodology
• 3.2.2.1 Geometry of workspace
• 3.2.2.2 Dynamical system
• 3.2.2.3 Constraints
• 3.2.2.4 Control design
• 3.2.3 Experimental results
• 3.2.3.1 Setup
• 3.2.3.2 Results
• 3.3 Model-free control for underwater vehicles
• 3.3.1 Fully actuated underwater vehicles
• 3.3.1.1 AUV kinematics and dynamics
• 3.3.1.2 Control scheme
• 3.3.1.3 Experiments
• 3.3.2 Underactuated underwater vehicles: Case I
• 3.3.2.1 Vehicle kinematics and dynamics
• 3.3.2.2 Error coordinates
• 3.3.2.3 Control scheme
• 3.3.2.4 Experiments
• 3.3.3 Underactuated underwater vehicles: Case II
• 3.3.3.1 AUV kinematics and dynamics
• 3.3.3.2 Error coordinates
• 3.3.3.3 Control scheme
• 3.3.3.4 Simulation results
• 3.4 Summary
• References

Inspec keywords: robust control; motion control; vehicle dynamics; autonomous underwater vehicles

Other keywords: kinematic constraints; robust motion control strategies; underwater robotic vehicles; reduced energy consumption; control design; sensor-based motion control; autonomous underwater vehicles; trajectory-tracking control schemes; external disturbances; way-point tracking error; NMPC strategy; vehicle dynamics; underactuated vehicles

Subjects: Vehicle mechanics; Spatial variables control; Robot and manipulator mechanics; Mobile robots; Marine system control; Telerobotics; Stability in control theory