A Gaussian Process-Based Funnel MPC for Docking Control of Unmanned Underwater Vehicles by Learning Residual Dynamics

This paper presents a Gaussian Process (GP)-based Funnel Model Predictive Control (MPC) for docking control of unmanned underwater vehicles (UUVs). The control method employs a Gaussian Process regression to learn the residual dynamics, which compensates for the unmodeled dynamics to improve prediction accuracy. Furthermore, a distance-adaptive performance funnel is designed to satisfy the field of view (FOV) constraints of sensors during the terminal guidance phase. The funnel imposes time-varying constraints on the UUV to ensure that the docking station remains observable. This funnel constraint is integrated into the cost function of the MPC, which systematically enforces safety without the computational complexity of traditional invariant sets. Comparative simulations validate the framework’s reliability under external disturbances, demonstrating superior tracking precision against conventional MPC benchmarks.