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Model predictive control for autonomous underwater vehicle

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Title Model predictive control for autonomous underwater vehicle
 
Creator Budiyono, Agus
 
Subject MPC
AUV
Underwater robotics
Autonomous
Dynamics
 
Description 191-199
Research on the autonomous underwater vehicles (AUVs)
has been gaining more interest in the recent past. AUVs have been envisioned as
a cost effective and safe solution for various underwater missions including
but are not limited to underwater scientific test-bed, deep oceanic
surveillance, environmental monitoring and underwater structures inspection.
The control for such autonomous vehicles, however, continues to pose a serious
challenge due to its complex dynamics and uncertain environment. As an
alternative of direct tuning PID controllers which has several limitations,
Model Predictive Control is proposed in this work. Characteristic of AUV where
the dynamics is sluggish and linear around the region of operation makes the
application of MPC amenable. In addition, the ability of the method to handle
constraints inherent in the control inputs of AUV is appropriately exploited.
Overall effectiveness of the new approach is evaluated based on the tracking
performance, disturbance rejection and robustness.
 
Date 2011-05-23T11:07:24Z
2011-05-23T11:07:24Z
2011-04
 
Type Article
 
Identifier 0975-1033 (Online); 0379-5136 (Print)
http://hdl.handle.net/123456789/11723
 
Language en_US
 
Rights CC Attribution-Noncommercial-No Derivative Works 2.5 India
 
Publisher NISCAIR-CSIR, India
 
Source IJMS Vol.40(2) [April 2011]