Predictive control for submergence rescue vehicle station and attitude maneuver

It is an important control process to operate motion of a submergence rescue vehicle (SRV). Seeing that the motion of the submergence rescue vehicle is special, it is necessary to employ non-linear predictive control system. For this reason, continuous dynamic performance of the system, the logical components and the operative restraints are expressed as the non-linear equations of state with the inequality restraints, and the model principle of hybrid system is introduced. It showed that the position and attitude of the SRV could be exactly controlled by means of non-linear model predictive control. The test in a model basin also proved that the above methods were efficient.