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Experimental Verification of a Depth Controller using Model Predictive Control with Constraints onboard a Thruster Actuated AUV

Steenson, Leo V.; Phillips, A.B.; Rogers, E.; Furlong, M.; Turnock, S.R.. 2012 Experimental Verification of a Depth Controller using Model Predictive Control with Constraints onboard a Thruster Actuated AUV. In: IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles (NGCUV’2012), Porto.

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Abstract/Summary

In this work a depth and pitch controller for an autonomous underwater vehicle (AUV) is developed. This controller uses the model predictive control method to manoeuvre the vehicle whilst operating within the defined constraints of the AUV actuators. Experimental results are given for the AUV performing a step change in depth whilst maintaining zero pitch.

Item Type: Publication - Conference Item (Paper)
Programmes: NOC Programmes
Additional Keywords: Autonomous underwater vehicle; AUV; depth and pitch control; model predictive control; MPC
Date made live: 02 Jan 2013 10:54 +0 (UTC)
URI: http://nora.nerc.ac.uk/id/eprint/446564

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