Efficient multivariable generalized predictive control for autonomous underwater vehicle in vertical plane
type: Item
instance of: scholarly article
title: Efficient multivariable generalized predictive control for autonomous underwater vehicle in vertical plane
zbMATH Open document ID: 1400.93216
DOI: 10.1155/2016/4650380
author: Xuliang Yao
author: Guangyi Yang
published in: Mathematical Problems in Engineering
publication date: 2018-10-12T00:00:00Z
review text: Summary: 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.
Mathematics Subject Classification ID: 93C85
Mathematics Subject Classification ID: 93B40
Mathematics Subject Classification ID: 93C40
zbMATH DE Number: 6953216
MaRDI profile type: Publication
full work available at URL: https://doi.org/10.1155/2016/4650380
OpenAlex ID: W2553466927
Wikidata QID: Q59131363
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description: scientific article; zbMATH DE number 6953216