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This paper presents a novel Nonlinear Model Predictive Control (NMPC) schemefor underwater robotic vehicles operating in a constrained workspace includingstatic obstacles. The purpose of the controller is to guide the vehicle towardsspecific way points. Various limitations such as: obstacles, workspaceboundary, thruster saturation and predefined desired upper bound of the vehiclevelocity are captured as state and input constraints and are guaranteed duringthe control design. The proposed scheme incorporates the full dynamics of thevehicle in which the ocean currents are also involved. Hence, the controlinputs calculated by the proposed scheme are formulated in a way that thevehicle will exploit the ocean currents, when these are in favor of theway-point tracking mission which results in reduced energy consumption by thethrusters. The performance of the proposed control strategy is experimentallyverified using a $4$ Degrees of Freedom (DoF) underwater robotic vehicle insidea constrained test tank with obstacles.

A Robust Model Predictive Control Approach for Autonomous Underwater Vehicles Operating in a Constrained workspace