Adaptive LPV-MPC and NFTSM-ESO Cooperative Control Method for Underactuated AUV

ZHANG Yuxuan; YAN Tianhong; CHEN Shuwen

doi:10.11993/j.issn.2096-3920.2026-0067

Volume 34 Issue 5

Oct 2026

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Article Navigation > Journal of Unmanned Undersea Systems > 2026 > 34(5): 905-918

ZHANG Yuxuan, YAN Tianhong, CHEN Shuwen. Adaptive LPV-MPC and NFTSM-ESO Cooperative Control Method for Underactuated AUV[J]. Journal of Unmanned Undersea Systems, 2026, 34(5): 905-918. doi: 10.11993/j.issn.2096-3920.2026-0067

Citation:

ZHANG Yuxuan, YAN Tianhong, CHEN Shuwen. Adaptive LPV-MPC and NFTSM-ESO Cooperative Control Method for Underactuated AUV[J]. Journal of Unmanned Undersea Systems, 2026, 34(5): 905-918. doi: 10.11993/j.issn.2096-3920.2026-0067

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Adaptive LPV-MPC and NFTSM-ESO Cooperative Control Method for Underactuated AUV

doi: 10.11993/j.issn.2096-3920.2026-0067

College of Mechanical and Electrical Engineering, China Jiliang University, Hangzhou 310018, China

Received Date: 2026-04-03
Accepted Date: 2026-06-02
Rev Recd Date: 2026-05-31

Available Online: 2026-09-23

Abstract

Abstract

This paper addresses depth-heading tracking and roll stabilization of underactuated autonomous undersea vehicles(AUVs) subject to the lack of independent sway/roll actuators, rudder-induced channel coupling, actuator constraints, and time-varying marine disturbances. A cooperative control framework integrating adaptive linear parameter-varying model predictive control(LPV-MPC), a nonsingular fast terminal sliding mode extended state observer(NFTSM-ESO), and a roll proportional-derivative(PD) inner loop is proposed. A roll-angle-scheduled depth-roll-heading LPV error model is first established by characterizing how elevator and rudder effectiveness vary with roll attitude, thus incorporating the influence of roll on the depth and heading channels into the prediction model. An adaptive LPV-MPC driven by two metrics, tracking error and disturbance magnitude, is then developed to compute a sequence of control increments online, subject to constraints on the magnitude and rate of rudder deflection, as well as soft constraints on roll angle, thus generating feasible rudder angle commands. The NFTSM-ESO rapidly and smoothly estimates lumped disturbances arising from currents, wave-induced moments, hydrodynamic parameter uncertainties, and unmodeled dynamics. The estimates are used for feedforward compensation and weight scheduling. A roll PD inner loop is incorporated into the rudder control channel to provide high-bandwidth roll damping and mitigate the effects of roll-heading coupling on the outer-loop prediction model. Simulation and ablation results demonstrate that the proposed method outperforms standard MPC+LESO, fixed-weight LPV-MPC, and the scheme without roll inner-loop compensation in reducing depth error, heading error, and roll oscillations while satisfying rudder angle constraints, providing an interpretable control framework with strong real-time performance for cooperative depth-heading control of underactuated AUVs under complex disturbance conditions.
- underactuated autonomous undersea vehicle,
- depth-heading tracking,
- adaptive,
- cooperative control,
- model predictive control,
- extended state observer

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References(15)

References

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