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, L.
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2014
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.
611b1de0-c505-472e-a03f-c5294c63bb72
Wang, L.
ff28fc9d-dbeb-460f-943c-f49997f58bf7
Steenson, L.V., Turnock, S.R., Phillips, A.B., Harris, C., Furlong, M.E., Rogers, E. and Wang, L.
(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: https://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: 19 Nov 2019 02:02
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Contributors
Author:
L.V. Steenson
Author:
C. Harris
Author:
M.E. Furlong
Author:
E. Rogers
Author:
L. Wang
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