Experimental Verification of a Depth Controller using Model Predictive Control with Constraints onboard a Thruster Actuated AUV

In this work a depth and pitch controller for an autonomous underwater vehicle (AUV) is developed. This controller uses the model predictive control method to manoeuvre the vehicle whilst operating within the defined constraints of the AUV actuators. Experimental results are given for the AUV performing a step change in depth whilst maintaining zero pitch.