Itisanimportantcontrolprocesstooperatemotionofansubmergencerescuevehicle(SRV).Seeingthatthemotionofthesubmergencerescuevehicleisspecial,itisnecessarytoemploynon-linearpredictivecontrolsystem.Forthisreason,continuousdynamicperformanceofthesystem,thelogicalcomponentsandtheoperativerestraintsareexpressedasthenon-linearequationsofstatewiththeinequalityrestraints,andthemodelprincipleofhybridsystemisintroduced.TheconclusionshowsthatitcomestruetoexactlycontrolpositionandattitudeoftheSRVbymeansofnon-linearmodelpredictivecontrol.Thetestinamodelbasinhasalsoprovedthattheabovemethodsareefficient.