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Model predictive control of an autonomous underwater vehicle for transit and hover missions with experimental verification

Model predictive control of an autonomous underwater vehicle for transit and hover missions with experimental verification
Model predictive control of an autonomous underwater vehicle for transit and hover missions 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
Steenson, Leo
893cda8d-9684-4a88-9859-13046f806c83
Turnock, Stephen
d6442f5c-d9af-4fdb-8406-7c79a92b26ce
Phillips, Alexander
f565b1da-6881-4e2a-8729-c082b869028f
Harris, Catherine
34cf0f4b-4e11-4ed2-a3ad-5596dd765572
Furlong, Maaten
332e9aef-8c6b-452f-8b85-712492767458
Rogers, Eric
611b1de0-c505-472e-a03f-c5294c63bb72
Steenson, Leo
893cda8d-9684-4a88-9859-13046f806c83
Turnock, Stephen
d6442f5c-d9af-4fdb-8406-7c79a92b26ce
Phillips, Alexander
f565b1da-6881-4e2a-8729-c082b869028f
Harris, Catherine
34cf0f4b-4e11-4ed2-a3ad-5596dd765572
Furlong, Maaten
332e9aef-8c6b-452f-8b85-712492767458
Rogers, Eric
611b1de0-c505-472e-a03f-c5294c63bb72

Steenson, Leo, Turnock, Stephen, Phillips, Alexander, Harris, Catherine, Furlong, Maaten and Rogers, Eric (2014) Model predictive control of an autonomous underwater vehicle for transit and hover missions with experimental verification. Proceedings of the Institution of Mechanical Engineers, Part M: Journal of Engineering for the Maritime Environment. (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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Accepted/In Press date: 22 August 2013
Published date: 18 February 2014

Identifiers

Local EPrints ID: 452985
URI: http://eprints.soton.ac.uk/id/eprint/452985
ISSN: 1475-0902
PURE UUID: e2f32b38-0954-4b21-9f06-d895cacce030
ORCID for Stephen Turnock: ORCID iD orcid.org/0000-0001-6288-0400
ORCID for Alexander Phillips: ORCID iD orcid.org/0000-0003-3234-8506
ORCID for Eric Rogers: ORCID iD orcid.org/0000-0003-0179-9398

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Date deposited: 07 Jan 2022 12:10
Last modified: 08 Jan 2022 03:01

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Contributors

Author: Leo Steenson
Author: Stephen Turnock ORCID iD
Author: Alexander Phillips ORCID iD
Author: Catherine Harris
Author: Maaten Furlong
Author: Eric Rogers ORCID iD

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