Nonlinear Reduced-Order Observer-Based Predictive Control for Diving of an Autonomous Underwater Vehicle
Joint Authors
Peng, Yu
Yao, Xuliang
Yang, Guangyi
Source
Discrete Dynamics in Nature and Society
Issue
Vol. 2017, Issue 2017 (31 Dec. 2017), pp.1-15, 15 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2017-01-03
Country of Publication
Egypt
No. of Pages
15
Main Subjects
Abstract EN
The attitude control and depth tracking issue of autonomous underwater vehicle (AUV) are addressed in this paper.
By introducing a nonsingular coordinate transformation, a novel nonlinear reduced-order observer (NROO) is presented to achieve an accurate estimation of AUV’s state variables.
A discrete-time model predictive control with nonlinear model online linearization (MPC-NMOL) is applied to enhance the attitude control and depth tracking performance of AUV considering the wave disturbance near surface.
In AUV longitudinal control simulation, the comparisons have been presented between NROO and full-order observer (FOO) and also between MPC-NMOL and traditional NMPC.
Simulation results show the effectiveness of the proposed method.
American Psychological Association (APA)
Yao, Xuliang& Yang, Guangyi& Peng, Yu. 2017. Nonlinear Reduced-Order Observer-Based Predictive Control for Diving of an Autonomous Underwater Vehicle. Discrete Dynamics in Nature and Society،Vol. 2017, no. 2017, pp.1-15.
https://search.emarefa.net/detail/BIM-1151436
Modern Language Association (MLA)
Yao, Xuliang…[et al.]. Nonlinear Reduced-Order Observer-Based Predictive Control for Diving of an Autonomous Underwater Vehicle. Discrete Dynamics in Nature and Society No. 2017 (2017), pp.1-15.
https://search.emarefa.net/detail/BIM-1151436
American Medical Association (AMA)
Yao, Xuliang& Yang, Guangyi& Peng, Yu. Nonlinear Reduced-Order Observer-Based Predictive Control for Diving of an Autonomous Underwater Vehicle. Discrete Dynamics in Nature and Society. 2017. Vol. 2017, no. 2017, pp.1-15.
https://search.emarefa.net/detail/BIM-1151436
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1151436