Experimental Verification of a Depth Controller using Model Predictive Control with Constraints onboard a Thruster
Actuated AUV
Experimental Verification of a Depth Controller using Model Predictive Control with Constraints onboard a Thruster
Actuated AUV
In this work a depth and pitch controller for an autonomous underwater vehicle (AUV) is developed. This controller uses the model predictive control method to manoeuvre the vehicle whilst operating within the defined constraints of the AUV actuators. Experimental results are given for the AUV performing a step change in depth whilst maintaining zero pitch.
Autonomous underwater vehicle, AUV, depth and pitch control, model predictive control, MPC
Steenson, Leo V.
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Phillips, A.B.
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Rogers, E.
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Furlong, M.
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Turnock, S.R.
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April 2012
Steenson, Leo V.
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Phillips, A.B.
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Rogers, E.
611b1de0-c505-472e-a03f-c5294c63bb72
Furlong, M.
332e9aef-8c6b-452f-8b85-712492767458
Turnock, S.R.
d6442f5c-d9af-4fdb-8406-7c79a92b26ce
Steenson, Leo V., Phillips, A.B., Rogers, E., Furlong, M. and Turnock, S.R.
(2012)
Experimental Verification of a Depth Controller using Model Predictive Control with Constraints onboard a Thruster
Actuated AUV.
IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles (NGCUV’2012), Porto, Portugal.
6 pp
.
Record type:
Conference or Workshop Item
(Paper)
Abstract
In this work a depth and pitch controller for an autonomous underwater vehicle (AUV) is developed. This controller uses the model predictive control method to manoeuvre the vehicle whilst operating within the defined constraints of the AUV actuators. Experimental results are given for the AUV performing a step change in depth whilst maintaining zero pitch.
Text
IFAC-Leo Steenson[1].pdf
- Author's Original
More information
Published date: April 2012
Venue - Dates:
IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles (NGCUV’2012), Porto, Portugal, 2012-04-01
Keywords:
Autonomous underwater vehicle, AUV, depth and pitch control, model predictive control, MPC
Organisations:
Ocean Technology and Engineering, Southampton Wireless Group, Fluid Structure Interactions Group
Identifiers
Local EPrints ID: 346564
URI: http://eprints.soton.ac.uk/id/eprint/346564
PURE UUID: ff55d1d9-3803-43ac-b196-c2eb60616af6
Catalogue record
Date deposited: 02 Jan 2013 10:54
Last modified: 15 Mar 2024 03:21
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Contributors
Author:
Leo V. Steenson
Author:
A.B. Phillips
Author:
E. Rogers
Author:
M. Furlong
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