Adaptive reference management and model predictive control for near-surface depth–heading control of autonomous underwater vehicles

Vladimir Petrov; Gage MacLin; Venanzio Cichella

doi:10.1016/j.oceaneng.2026.128400

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Adaptive reference management and model predictive control for near-surface depth–heading control of autonomous underwater vehicles

Journal article

Open access

Peer reviewed

Adaptive reference management and model predictive control for near-surface depth–heading control of autonomous underwater vehicles

Vladimir Petrov, Gage MacLin and Venanzio Cichella

Ocean engineering, Vol.368(Part 3), 128400

09/30/2026

DOI: 10.1016/j.oceaneng.2026.128400

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Abstract

Near-surface operations conducted by underwater vehicles (UVs) feature strong nonlinear disturbances and speed-dependent control effectiveness, which make depth and heading regulation challenging under strict state and actuator limits. This paper presents an optimal–adaptive strategy on the Joubert BB2 platform that couples a constraint-aware model predictive controller (MPC) with an L1 adaptive reference management architecture to mitigate unmodeled dynamics and uncertainties. The MPC is built from a reduced-order BB2 model that is linearized about forward speed into vertical and horizontal subsystems, and the infinite-horizon optimal control problem (OCP) is transcribed using Bernstein polynomial properties. Simulation results for two representative forward-speed cases show that the proposed L1-assisted MPC reduces the steady-state depth and heading errors observed with MPC-only control while respecting the prescribed actuator magnitude and rate limits in the tested scenarios. •Developed a control algorithm for underwater vehicles operating in disturbance-prone near-surface conditions.•Combined MPC with L1 adaptive reference management to improve robustness and accuracy.•Validated control system using simulations of the Joubert BB2 vehicle.•Demonstrated depth and heading regulation in fast-transit and near-hover operations.•Enhanced UV functionality and performance in challenging underwater environments.

Adaptive control

Autonomous underwater vehicles

Joubert BB2

Model predictive control

Optimal control

Details

Title: Subtitle: Adaptive reference management and model predictive control for near-surface depth–heading control of autonomous underwater vehicles
Creators: Vladimir Petrov - University of Iowa
Gage MacLin - University of Iowa
Venanzio Cichella - University of Iowa
Resource Type: Journal article
Publication Details: Ocean engineering, Vol.368(Part 3), 128400
DOI: 10.1016/j.oceaneng.2026.128400
ISSN: 0029-8018
eISSN: 1873-5258
Publisher: Elsevier Ltd
Grant note: N000142412426 / Office of Naval Research (http://dx.doi.org/10.13039/100000006)
Language: English
Date published: 09/30/2026
Academic Unit: Mechanical Engineering
Record Identifier: 9985240905402771

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