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Efficient Multivariable Generalized Predictive Control for Autonomous Underwater Vehicle in Vertical Plane
Joint Authors
Source
Mathematical Problems in Engineering
Issue
Vol. 2016, Issue 2016 (31 Dec. 2016), pp.1-9, 9 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2016-11-23
Country of Publication
Egypt
No. of Pages
9
Main Subjects
Abstract EN
This paper presents the design and simulation validation of a multivariable GPC (generalized predictive control) for AUV (autonomous underwater vehicle) in vertical plane.
This control approach has been designed in the case of AUV navigating with low speed near water surface, in order to restrain wave disturbance effectively and improve pitch and heave motion stability.
The proposed controller guarantees compliance with rudder manipulation, AUV output constraints, and driving energy consumption.
Performance index based on pitch stabilizing performance, energy consumption, and system constraints is used to derive the control action applied for each time step.
In order to deal with constrained optimization problems, a Hildreth’s QP procedure is adopted.
Simulation results of AUV longitudinal control show better stabilizing performance and minimized energy consumption improved by multivariable GPC.
American Psychological Association (APA)
Yao, Xuliang& Yang, Guangyi. 2016. Efficient Multivariable Generalized Predictive Control for Autonomous Underwater Vehicle in Vertical Plane. Mathematical Problems in Engineering،Vol. 2016, no. 2016, pp.1-9.
https://search.emarefa.net/detail/BIM-1112210
Modern Language Association (MLA)
Yao, Xuliang& Yang, Guangyi. Efficient Multivariable Generalized Predictive Control for Autonomous Underwater Vehicle in Vertical Plane. Mathematical Problems in Engineering No. 2016 (2016), pp.1-9.
https://search.emarefa.net/detail/BIM-1112210
American Medical Association (AMA)
Yao, Xuliang& Yang, Guangyi. Efficient Multivariable Generalized Predictive Control for Autonomous Underwater Vehicle in Vertical Plane. Mathematical Problems in Engineering. 2016. Vol. 2016, no. 2016, pp.1-9.
https://search.emarefa.net/detail/BIM-1112210
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1112210