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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
Department水下机器人研究室
Conference Name6th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, IEEE-CYBER 2016
Conference DateJune 19-22, 2016
Conference PlaceChengdu, China
Source Publication6th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, IEEE-CYBER 2016
PublisherIEEE
Publication PlacePiscataway, NJ, USA
2016
Pages512-517
Indexed ByEI ; CPCI(ISTP)
EI Accession number20164302940225
WOS IDWOS:000389835200096
Contribution Rank1
ISSN2379-7711
ISBN978-1-5090-2732-3
KeywordHuman Occupied Vehicles (Hovs) Hover Positioning Control Model Predictive Control (Mpc) Hildreth Programming Producer
AbstractUnderwater 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.
Language英语
Citation statistics
Cited Times:1[WOS]   [WOS Record]     [Related Records in WOS]
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/19296
Collection水下机器人研究室
Corresponding AuthorLiu KZ(刘开周)
Affiliation1.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
Recommended Citation
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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