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Mathematical Problems in Engineering
Volume 2016, Article ID 4650380, 9 pages
Research Article

Efficient Multivariable Generalized Predictive Control for Autonomous Underwater Vehicle in Vertical Plane

College of Automation, Harbin Engineering University, Harbin 150001, China

Received 6 July 2016; Accepted 23 October 2016

Academic Editor: Laurent Mevel

Copyright © 2016 Xuliang Yao and Guangyi Yang. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper presents the design and simulation validation of a multivariable GPC (generalized predictive control) for AUV (autonomous underwater vehicle) in vertical plane. This control approach has been designed in the case of AUV navigating with low speed near water surface, in order to restrain wave disturbance effectively and improve pitch and heave motion stability. The proposed controller guarantees compliance with rudder manipulation, AUV output constraints, and driving energy consumption. Performance index based on pitch stabilizing performance, energy consumption, and system constraints is used to derive the control action applied for each time step. In order to deal with constrained optimization problems, a Hildreth’s QP procedure is adopted. Simulation results of AUV longitudinal control show better stabilizing performance and minimized energy consumption improved by multivariable GPC.