efficient multivariable generalized predictive control for autonomous underwater vehicle in vertical plane

Clicks: 147
ID: 188879
2016
Free PDF
Article Quality & Performance Metrics
Overall Quality
Not rated
Combines reader engagement with the AI quality analysis. This article has not been analysed, so there is no overall score — reader engagement is measured and shown alongside.
AI Quality Assessment
Not analyzed
Readership in this journal
Emerging

Ranked #359 of 1,093 articles by views in journal of power sources

Most read Least read

Bar heights use a square-root scale. Only the 120 most-read articles are drawn; the journal has 1,093 in total.

Mint this article as an NFT
Not yet minted

Create a permanent, verifiable on-chain record of this article on the Scimatic Network. The NFT is held in your Journament account, and you can withdraw it to your own wallet at any time.

5 SUSD one-off · no wallet required
Sign in to mint
Abstract
This paper presents the design and simulation validation of a multivariable GPC (generalized predictive control) for AUV (autonomous underwater vehicle) in vertical plane. This control approach has been designed in the case of AUV navigating with low speed near water surface, in order to restrain wave disturbance effectively and improve pitch and heave motion stability. The proposed controller guarantees compliance with rudder manipulation, AUV output constraints, and driving energy consumption. Performance index based on pitch stabilizing performance, energy consumption, and system constraints is used to derive the control action applied for each time step. In order to deal with constrained optimization problems, a Hildreth’s QP procedure is adopted. Simulation results of AUV longitudinal control show better stabilizing performance and minimized energy consumption improved by multivariable GPC.
Reference Key
yao2016mathematicalefficient Use this key to autocite in the manuscript while using SciMatic Manuscript Manager or Thesis Manager
Authors ;Xuliang Yao;Guangyi Yang
Journal journal of power sources
Year 2016
DOI
10.1155/2016/4650380
URL
http://dx.doi.org/10.1155/2016/4650380
Keywords
civil engineering (general)mathematics engineering (general)

Citations

No citations found. To add a citation, contact the admin at info@scimatic.org

Comments

No comments yet. Be the first to comment on this article.