Linear Parameter-Varying Model Predictive Control of AUV for Docking Scenarios
Source abstract
Abstract
A control system for driving an Autonomous Underwater Vehicle (AUV) performing docking operations in presence of tidal current disturbances is proposed. The nonlinear model of the vehicle has been modelled in a Linear Parameter-Varying (LPV) form. This is suitable for the design of the control system using a model-based approach. The LPV model was used for a Model Predictive Control (MPC) design for computing the set of forces and moments driving the nonlinear vehicle model. The LPV-MPC control action is mapped into the reference signals for the actuators by using a Thrust Allocation (TA) algorithm. This was based on the nonlinear models for the actuators and their position and orientation on the vehicle’s hull. The structural decomposition of MPC and TA reduces the computational burden involved in computing the control law on-line on an embedded control board. Both MPC and TA algorithms use the vehicle’s linear and angular positions, and velocities that are estimated by an LPV based Kalman Filter (KF). The proposed control system has been tested in different docking scenarios using various tidal current disturbances acting on the vehicle as an unmeasured disturbance. The simulation results show the controller is effective in controlling the AUV over the range of control scenarios meeting the constraints and specifications.
Source: crossref · Quality: baseline
Research context
OpenAlex topics: Underwater Vehicles and Communication Systems · Adaptive Control of Nonlinear Systems · Stability and Control of Uncertain Systems
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
Naval Ship & Maritime Systems Engineering Department, Naval Ship & Maritime Systems Division, Mitsubishi Heavy Industries, Ltd., 6-53 Tsukuba-machi, Isahaya City 854-0065, Japan
Industrial Systems and Control, Ltd., Culzean House, 36 Renfield Street, Glasgow G2 1LU, UK
CIS Department, ICT Solution Headquarters, Mitsubishi Heavy Industries, Ltd., 5-717-1 Fukahori-machi, Nagasaki City 851-0392, Japan
Organization for Marine Science and Technology, Nagasaki University, 1-14 Bunkyo-machi, Nagasaki City 852-8521, Japan
Division of Mechanical Science, Nagasaki University Graduate School, 1-14 Bunkyo-machi, Nagasaki City 852-8521, Japan
Funding
Nippon Foundation
References (16)
Show source-provided references
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