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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
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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Steenson, Leo V.
6b4c7fa7-8c25-4a3e-9d45-e0369b578859
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), 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.

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More information

Published date: April 2012
Venue - Dates: IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles (NGCUV’2012), 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
ORCID for A.B. Phillips: ORCID iD orcid.org/0000-0003-3234-8506
ORCID for E. Rogers: ORCID iD orcid.org/0000-0003-0179-9398
ORCID for S.R. Turnock: ORCID iD orcid.org/0000-0001-6288-0400

Catalogue record

Date deposited: 02 Jan 2013 10:54
Last modified: 19 Nov 2019 02:02

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Contributors

Author: Leo V. Steenson
Author: A.B. Phillips ORCID iD
Author: E. Rogers ORCID iD
Author: M. Furlong
Author: S.R. Turnock ORCID iD

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