Model Predictive Control of a Hybrid Autonomous Underwater Vehicle with Experimental Verification
Model Predictive Control of a Hybrid Autonomous Underwater Vehicle with Experimental Verification
In this work model predictive control is used to provide transit and hover capabilities for an autonomous underwater vehicle where the description of the system dynamics used include terms measured experimentally. The resulting controller manoeuvres the vehicle in the presence of constraints on the actuators and results obtained from the deployment of the vehicle in an inland lake for the study of the Zebra mussel, an invasive species, are also given.
166-179
Steenson, L.V.
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Turnock, S.R.
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Phillips, A.B.
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Harris, C.
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Furlong, M.E.
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Rogers, E.
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Wang, Liuping
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Bodles, Kenneth
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Evans, Derek W.
dfe0e44f-d7c5-4b75-bd32-63d780113c9f
2014
Steenson, L.V.
893cda8d-9684-4a88-9859-13046f806c83
Turnock, S.R.
d6442f5c-d9af-4fdb-8406-7c79a92b26ce
Phillips, A.B.
f565b1da-6881-4e2a-8729-c082b869028f
Harris, C.
34cf0f4b-4e11-4ed2-a3ad-5596dd765572
Furlong, M.E.
332e9aef-8c6b-452f-8b85-712492767458
Rogers, E.
611b1de0-c505-472e-a03f-c5294c63bb72
Wang, Liuping
ff28fc9d-dbeb-460f-943c-f49997f58bf7
Bodles, Kenneth
28e3c5cc-0968-4777-8385-4924d1ea4e60
Evans, Derek W.
dfe0e44f-d7c5-4b75-bd32-63d780113c9f
Steenson, L.V., Turnock, S.R., Phillips, A.B., Harris, C., Furlong, M.E., Rogers, E., Wang, Liuping, Bodles, Kenneth and Evans, Derek W.
(2014)
Model Predictive Control of a Hybrid Autonomous Underwater Vehicle with Experimental Verification.
Proceedings of the Institution of Mechanical Engineers, Part M: Journal of Engineering for the Maritime Environment, 228 (2), .
(doi:10.1177/1475090213506185).
Abstract
In this work model predictive control is used to provide transit and hover capabilities for an autonomous underwater vehicle where the description of the system dynamics used include terms measured experimentally. The resulting controller manoeuvres the vehicle in the presence of constraints on the actuators and results obtained from the deployment of the vehicle in an inland lake for the study of the Zebra mussel, an invasive species, are also given.
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e-pub ahead of print date: 18 February 2014
Published date: 2014
Organisations:
Electronics & Computer Science, Ocean Technology and Engineering, Fluid Structure Interactions Group
Identifiers
Local EPrints ID: 354316
URI: http://eprints.soton.ac.uk/id/eprint/354316
ISSN: 1475-0902
PURE UUID: 8a66d99a-e1b4-4b85-8fac-35cc7026e23a
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Date deposited: 08 Jul 2013 07:48
Last modified: 15 Mar 2024 03:21
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Contributors
Author:
L.V. Steenson
Author:
A.B. Phillips
Author:
C. Harris
Author:
M.E. Furlong
Author:
E. Rogers
Author:
Liuping Wang
Author:
Kenneth Bodles
Author:
Derek W. Evans
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