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Effect of measurement noise on the performance of a depth and pitch controller using the model predictive control method

Effect of measurement noise on the performance of a depth and pitch controller using the model predictive control method
Effect of measurement noise on the performance of a depth and pitch controller using the model predictive control method
In this paper a depth and pitch controller for a hover-capable AUV is designed and implemented in simulation. The effect on controller performance of random Gaussian noise on the feedback signals is evaluated. It has been shown that very small levels of measurement noise will result in the controller performance degrading substantially and behaving in an erratic fashion. A polynomial type filter has been proposed and integrated into the model predictive control algorithm. This modification reduces the effect of the measurement noise substantially and improves controller performance.
auv, model predictive control
978-1-4577-2054-3
1-8
Institute of Electrical and Electronics Engineers
Steenson, Leo V.
6b4c7fa7-8c25-4a3e-9d45-e0369b578859
Phillips, Alexander B.
f565b1da-6881-4e2a-8729-c082b869028f
Turnock, Stephen R.
d6442f5c-d9af-4fdb-8406-7c79a92b26ce
Furlong, Maaten
332e9aef-8c6b-452f-8b85-712492767458
Rogers, Eric
611b1de0-c505-472e-a03f-c5294c63bb72
Steenson, Leo V.
6b4c7fa7-8c25-4a3e-9d45-e0369b578859
Phillips, Alexander B.
f565b1da-6881-4e2a-8729-c082b869028f
Turnock, Stephen R.
d6442f5c-d9af-4fdb-8406-7c79a92b26ce
Furlong, Maaten
332e9aef-8c6b-452f-8b85-712492767458
Rogers, Eric
611b1de0-c505-472e-a03f-c5294c63bb72

Steenson, Leo V., Phillips, Alexander B., Turnock, Stephen R., Furlong, Maaten and Rogers, Eric (2012) Effect of measurement noise on the performance of a depth and pitch controller using the model predictive control method. In 2012 IEEE/OES Autonomous Underwater Vehicles (AUV). Institute of Electrical and Electronics Engineers. pp. 1-8 . (doi:10.1109/AUV.2012.6380732).

Record type: Conference or Workshop Item (Paper)

Abstract

In this paper a depth and pitch controller for a hover-capable AUV is designed and implemented in simulation. The effect on controller performance of random Gaussian noise on the feedback signals is evaluated. It has been shown that very small levels of measurement noise will result in the controller performance degrading substantially and behaving in an erratic fashion. A polynomial type filter has been proposed and integrated into the model predictive control algorithm. This modification reduces the effect of the measurement noise substantially and improves controller performance.

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More information

Published date: 13 December 2012
Additional Information: ISSN 1522-3167
Venue - Dates: 2012 IEEE/OES Autonomous Underwater Vehicles (AUV), United Kingdom, 2012-09-24 - 2012-09-27
Keywords: auv, model predictive control
Organisations: Ocean Technology and Engineering, Fluid Structure Interactions Group

Identifiers

Local EPrints ID: 346561
URI: http://eprints.soton.ac.uk/id/eprint/346561
ISBN: 978-1-4577-2054-3
PURE UUID: fb51e992-7361-4540-b63a-805c70dc35c8
ORCID for Alexander B. Phillips: ORCID iD orcid.org/0000-0003-3234-8506
ORCID for Stephen R. Turnock: ORCID iD orcid.org/0000-0001-6288-0400
ORCID for Eric Rogers: ORCID iD orcid.org/0000-0003-0179-9398

Catalogue record

Date deposited: 08 Jan 2013 16:47
Last modified: 29 Oct 2019 02:09

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