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题名: Motion control of thruster-driven underwater vehicle based on Model Predictive Control
作者: Jin, Xing; 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
通讯作者: 刘开周
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: 6th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, IEEE-CYBER 2016
会议录出版者: IEEE
会议录出版地: Piscataway, NJ, USA
出版日期: 2016
页码: 512-517
收录类别: EI
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
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/19296
Appears in Collections:水下机器人研究室_会议论文

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Recommended Citation:
Jin, Xing,Liu KZ,Feng YB,et al. Motion control of thruster-driven underwater vehicle based on Model Predictive Control[C]. 见:6th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, IEEE-CYBER 2016. Chengdu, China. June 19-22, 2016.
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