Constrained generalized predictive control for propulsion motor of autonomous underwater vehicle

Yao, Xuliang; Yang, Guangyi

doi:10.1109/iccais.2015.7338694

Cited by 3 publications

(1 citation statement)

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“…The predictive control of AUV motion is one of the main research areas in marine control systems field. Several research works in this area were based on using GPC as the main controller for yaw [10], roll [6], depth [11], and propulsion BLDC motor [12].…”

Section: Introductionmentioning

confidence: 99%

Efficient Multivariable Generalized Predictive Control for Autonomous Underwater Vehicle in Vertical Plane

Yao

Yang

2016

Mathematical Problems in Engineering

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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.

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Section: Introductionmentioning

confidence: 99%