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Model Predictive Control of a Hybrid Autonomous Underwater Vehicle with Experimental Verification

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
1475-0902
166-179
Steenson, L.V.
86073c5a-69e6-4764-91ae-d764a5cef06b
Turnock, S.R.
d6442f5c-d9af-4fdb-8406-7c79a92b26ce
Phillips, A.B.
f565b1da-6881-4e2a-8729-c082b869028f
Harris, C.
71bdfb5e-a965-45e5-b6d5-09108c075ae7
Furlong, M.E.
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Rogers, E.
611b1de0-c505-472e-a03f-c5294c63bb72
Wang, L.
ff28fc9d-dbeb-460f-943c-f49997f58bf7
Steenson, L.V.
86073c5a-69e6-4764-91ae-d764a5cef06b
Turnock, S.R.
d6442f5c-d9af-4fdb-8406-7c79a92b26ce
Phillips, A.B.
f565b1da-6881-4e2a-8729-c082b869028f
Harris, C.
71bdfb5e-a965-45e5-b6d5-09108c075ae7
Furlong, M.E.
332e9aef-8c6b-452f-8b85-712492767458
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), 166-179. (doi:10.1177/1475090213506185).

Record type: Article

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
ORCID for S.R. Turnock: ORCID iD orcid.org/0000-0001-6288-0400
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

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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: S.R. Turnock ORCID iD
Author: A.B. Phillips ORCID iD
Author: C. Harris
Author: M.E. Furlong
Author: E. Rogers ORCID iD
Author: L. Wang

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