Yayınlanmış 1 Ocak 2014 | Sürüm v1
Dergi makalesi Açık

Robust control of variable speed autonomous underwater vehicle

  • 1. Sci & Technol Res Council Turkey, Informat & Informat Secur Res Ctr, Kocaeli, Turkey
  • 2. Istanbul Tech Univ, TR-80626 Istanbul, Turkey

Açıklama

Set point tracking control of autonomous underwater vehicle (AUV) via robust model predictive control (RMPC) is considered. Input-constrained RMPC with integral action, which has been developed in our previous work, is used to control the AUV in this study. In order to derive a RMPC control rule, non-linear dynamics of AUV with six degree of freedom is linearized at certain operating points. So, horizontal and vertical plane dynamics of system are represented by linear models which have polytopic uncertainties. Since the derived control rule will be used in real time, the computation time should be reduced. To overcome this computational time problem and get rid of trial-error step of Algorithm 1, a new algorithm is proposed here. The simulations are carried out using the control rule based on this algorithm and these results are presented.

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