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Experimentally verified depth regulation for AUVs using constrained model predictive control

Experimentally verified depth regulation for AUVs using constrained model predictive control
Experimentally verified depth regulation for AUVs using constrained model predictive control
In the application of an autonomous underwater vehicle a critical requirement is to keep the level of the actuation signals within operational limits to avoid, for example, actuator nonlinearities and reduce peak power consumption. The most common approach to this problem for AUVs that have been deployed is, if required, to trade-off performance in order to keep the actuation signals and power required within the operational limits. This paper addresses depth control of an AUV using model predictive control with constraints on the both the amplitude and rate of change of the entries in the control vector. The model predictive control algorithm is designed by solving a quadratic programming problem in real-time when implemented on an AUV prototype. Experimental test results for depth control are also given and demonstrate that physically relevant constraints on the thrust and actuation power, critical factors for the use of these vehicles, can be achieved. Moreover, there is agreement between the control action used and the underlying physics of a body moving in water.
constrained control, control of fluid flows and fluids-structures interactions, real-time control
11974-11979
IFAC Papers Online
Steenson, Leo
91b88ead-e3ac-49e8-bff6-fdce0b8b7c0e
Wang, Luyping
27413cbd-4d71-4ac6-81df-266a5f6b0890
Phillips, Alexander
f565b1da-6881-4e2a-8729-c082b869028f
Turnock, Stephen
d6442f5c-d9af-4fdb-8406-7c79a92b26ce
Furlong, Maaten
332e9aef-8c6b-452f-8b85-712492767458
Rogers, Eric
611b1de0-c505-472e-a03f-c5294c63bb72
Boje, Edward
Xia, Xiaohua
Steenson, Leo
91b88ead-e3ac-49e8-bff6-fdce0b8b7c0e
Wang, Luyping
27413cbd-4d71-4ac6-81df-266a5f6b0890
Phillips, Alexander
f565b1da-6881-4e2a-8729-c082b869028f
Turnock, Stephen
d6442f5c-d9af-4fdb-8406-7c79a92b26ce
Furlong, Maaten
332e9aef-8c6b-452f-8b85-712492767458
Rogers, Eric
611b1de0-c505-472e-a03f-c5294c63bb72
Boje, Edward
Xia, Xiaohua

Steenson, Leo, Wang, Luyping, Phillips, Alexander, Turnock, Stephen, Furlong, Maaten and Rogers, Eric (2014) Experimentally verified depth regulation for AUVs using constrained model predictive control. Boje, Edward and Xia, Xiaohua (eds.) In Proceedings of the 19th IFAC World Congress. IFAC Papers Online. pp. 11974-11979 . (doi:10.3182/20140824-6-ZA-1003.01497).

Record type: Conference or Workshop Item (Paper)

Abstract

In the application of an autonomous underwater vehicle a critical requirement is to keep the level of the actuation signals within operational limits to avoid, for example, actuator nonlinearities and reduce peak power consumption. The most common approach to this problem for AUVs that have been deployed is, if required, to trade-off performance in order to keep the actuation signals and power required within the operational limits. This paper addresses depth control of an AUV using model predictive control with constraints on the both the amplitude and rate of change of the entries in the control vector. The model predictive control algorithm is designed by solving a quadratic programming problem in real-time when implemented on an AUV prototype. Experimental test results for depth control are also given and demonstrate that physically relevant constraints on the thrust and actuation power, critical factors for the use of these vehicles, can be achieved. Moreover, there is agreement between the control action used and the underlying physics of a body moving in water.

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More information

Published date: 2014
Venue - Dates: 19th IFAC World Congress, South Africa, 2014-08-24 - 2014-08-29
Keywords: constrained control, control of fluid flows and fluids-structures interactions, real-time control
Organisations: Electronics & Computer Science, Civil Maritime & Env. Eng & Sci Unit, Ocean Technology and Engineering

Identifiers

Local EPrints ID: 370258
URI: https://eprints.soton.ac.uk/id/eprint/370258
PURE UUID: 626a4078-3c9b-4e97-9b11-2a523151c0ed
ORCID for Alexander Phillips: ORCID iD orcid.org/0000-0003-3234-8506
ORCID for Stephen Turnock: ORCID iD orcid.org/0000-0001-6288-0400
ORCID for Eric Rogers: ORCID iD orcid.org/0000-0003-0179-9398

Catalogue record

Date deposited: 20 Oct 2014 13:49
Last modified: 26 Nov 2019 02:06

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Contributors

Author: Leo Steenson
Author: Luyping Wang
Author: Stephen Turnock ORCID iD
Author: Maaten Furlong
Author: Eric Rogers ORCID iD
Editor: Edward Boje
Editor: Xiaohua Xia

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