Generalized predictive control and energy consumption analysis of autonomous underwater vehicle
水下机器人广义预测控制算法及能耗问题研究

For an autonomous underwater vehicle(AUV), we adopt the variations of outputs as the system optimization objective and propose a generalized predictive control(GPC) algorithm for rejecting the fluctuations caused by various noises and reducing the energy consumption. Experiments of online control of the yaw velocity on an AUV show that it is effective to reduce the energy consumption while meeting the required performance indices.