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For long-term missions in complex seas, the onboard energy resources of autonomous underwater vehicles (AUVs) are limited. Thus, energy consumption reduction is an important aspect of the study of AUVs. This paper addresses energy consumption reduction using model predictive control (MPC) based on the state space model of AUVs for trajectory tracking control. Unlike the previous approaches, which use a cost function that consists of quadratic deviations of the predicted controlled output from the reference trajectory and quadratic input changes, a term of quadratic energy (i.e., quadratic input) is introduced into the cost function in this paper. Then, the MPC control law with the new cost function is constructed, and an analysis on the effect of the quadratic energy term on the stability is given. Finally, simulation results for depth tracking control are given to demonstrate the feasibility and effectiveness of the improved MPC on energy consumption optimization for AUVs.

Optimization of the Energy Consumption of Depth Tracking Control Based on Model Predictive Control for Autonomous Underwater Vehicles