Robust Model Predictive Control for Autonomous Underwater Vehicles (Advances in Industrial Control)

This book offers a comprehensive and practical guide to the design of advanced model predictive control (MPC) strategies for the three-dimensional motion control of autonomous underwater vehicles (AUVs).It addresses the full six-degrees-of-freedom dynamics of AUVs using convex optimization-based MPC techniques, making the resulting control problems computationally tractable. The book adopts a structured two-stage approach. The first stage provides a self-contained tutorial on advanced MPC design for uncertain systems, including strategies to ensure closed-loop stability.This equips students, academic researchers and engineers with the theoretical and practical foundations needed to understand and apply advanced MPC to complex systems.The second stage applies these methods to the real-world challenge of three-dimensional AUV motion control, offering novel control formulations that outperform conventional methods. Throughout the book, special attention is given to robustness, constraint