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Motion control of thruster-driven underwater vehicle based on Model Predictive Control
Jin X(金星); Liu KZ(刘开周); Feng YB(冯迎宾); Huang Y(黄琰); Zhao Y(赵洋); Cui SG(崔胜国); Yuan, Guang
作者部门水下机器人研究室
会议名称6th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, IEEE-CYBER 2016
会议日期June 19-22, 2016
会议地点Chengdu, China
会议录名称6th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, IEEE-CYBER 2016
出版者IEEE
出版地Piscataway, NJ, USA
2016
页码512-517
收录类别EI ; CPCI(ISTP)
EI收录号20164302940225
WOS记录号WOS:000389835200096
产权排序1
ISSN号2379-7711
ISBN号978-1-5090-2732-3
关键词Human Occupied Vehicles (Hovs) Hover Positioning Control Model Predictive Control (Mpc) Hildreth Programming Producer
摘要Underwater vehicles have been developed over the last six decades for potential uses in scientific, commercial, environmental, and military purposes, and always utilized to perform difficult tasks in cluttered environments such as deep-sea mining, underwater sampling and oceanic investigations. Since underwater vehicles have nonlinear and highly coupled dynamics, motion control can be difficult when completing complex tasks. This paper describes the implementation of a model predictive controller novel in a class of thruster-driven underwater vehicle. In this paper, a constrained discrete-time model predictive control method is employed for the motion control of thruster-driven underwater vehicles. A nonlinear model in six degree of freedom is established based on the dynamics of human occupied vehicle Jiao-long, and converted into a state space model after practical simplification. To ensure the performance of model predictive controller, a full feedback state observer is established to observe the state. In addition, Hildreth's quadratic programming algorithm is incorporated for solving the optimal control sequence, which greatly reduced the computation of the model predictive control algorithm. In order to show the effectiveness of the motion control method, simulations based on dynamics of human occupied vehicle Jiao-long are conducted. Performance on depth control, heading control and hovering control are evaluated. All the results demonstrate the effectiveness of the method.
语种英语
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文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/19296
专题水下机器人研究室
通讯作者Liu KZ(刘开周)
作者单位1.State Key Laboratory of Exploitation, Utilization of Deep-sea Mineral Resources, Changsha Research Institute of Mining and Metallurgy Co. Ltd, Changsha, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy Sciences, Shenyang, China
3.School of Information Science and Engineering, Northeastern University, Shenyang, China
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GB/T 7714
Jin X,Liu KZ,Feng YB,et al. Motion control of thruster-driven underwater vehicle based on Model Predictive Control[C]. Piscataway, NJ, USA:IEEE,2016:512-517.
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