Enhanced Nmpc Control Algorithm For Auv Stability During Underwater Vslam, Considering Isw Disturbances (Case Study: Bali Sea, Indonesia)

Kadek, Dwi Wahyuadnyana (2026) Enhanced Nmpc Control Algorithm For Auv Stability During Underwater Vslam, Considering Isw Disturbances (Case Study: Bali Sea, Indonesia). Doctoral thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Autonomous Underwater Vehicles (AUVs) often experience degraded navigation and mapping performance during visual SLAM (vSLAM) missions when operating under dynamic underwater disturbances such as Internal Solitary Waves (ISWs). Conventional control approaches, including standard Nonlinear Model Predictive Control (NMPC), have limited capability to compensate for unknown and rapidly varying nonlinear disturbances, leading to reduced motion stability and localization accuracy. To address this limitation, this research proposes an integrated Disturbance Observer–Nonlinear Model Predictive Control (DO-NMPC) framework that estimates and compensates for external disturbances in real time. The proposed method is developed through dynamic modeling, observer design, and controller formulation, and validated through SITL and HITL experiments. System performance is evaluated using steady-state error (SSE) as a practical indicator of AUV stability and RMSE for navigation accuracy, with vSLAM trajectories quantitatively compared against GPS-based ground truth. Results demonstrate that DO-NMPC significantly enhances AUV stability and navigation performance under ISW disturbances. Compared to baseline NMPC, SSE is reduced by approximately 69% along the x-axis and 77% along the y-axis under zero disturbance, with up to 76% improvement along the y-axis under strong ISW disturbances (1.0 m/s). Furthermore, vSLAM navigation accuracy is improved, achieving RMSE reductions of 63.24% along the x-axis and 82.70% along the y-axis. Despite limitations related to experimental scope and environmental modeling, the results confirm that integrating disturbance estimation with predictive control substantially improves stability and perception reliability for underwater navigation in dynamic marine environments.

Item Type:	Thesis (Doctoral)
Uncontrolled Keywords:	Autonomous Underwater Vehicle (AUV), Internal Solitary Wave (ISW), Disturbance Observer (DO), Nonlinear Model Predictive Control (NMPC), Visual SLAM (vSLAM).
Subjects:	T Technology > TJ Mechanical engineering and machinery > TJ211 Robotics. T Technology > TJ Mechanical engineering and machinery > TJ212 Control engineering systems. Automatic machinery (General) T Technology > TJ Mechanical engineering and machinery > TJ217 Adaptive control systems T Technology > TJ Mechanical engineering and machinery > TJ217.6 Predictive Control
Divisions:	Faculty of Industrial Technology and Systems Engineering (INDSYS) > Physics Engineering > 30001-(S3) PhD Thesis
Depositing User:	Kadek Dwi Wahyuadnyana
Date Deposited:	25 Mar 2026 02:09
Last Modified:	25 Mar 2026 02:09
URI:	http://repository.its.ac.id/id/eprint/132736

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