Effect of measurement noise on the performance of a depth and pitch controller using the model predictive control method

Steenson, Leo V.; Phillips, Alexander B.; Turnock, Stephen R.; Furlong, Maaten; Rogers, Eric. 2012 Effect of measurement noise on the performance of a depth and pitch controller using the model predictive control method. In: 2012 IEEE/OES Autonomous Underwater Vehicles (AUV). Piscataway, Institute of Electrical and Electronics Engineers, 1-8.

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Abstract/Summary

In this paper a depth and pitch controller for a hover-capable AUV is designed and implemented in simulation. The effect on controller performance of random Gaussian noise on the feedback signals is evaluated. It has been shown that very small levels of measurement noise will result in the controller performance degrading substantially and behaving in an erratic fashion. A polynomial type filter has been proposed and integrated into the model predictive control algorithm. This modification reduces the effect of the measurement noise substantially and improves controller performance.

Item Type:	Publication - Book Section
Digital Object Identifier (DOI):	10.1109/AUV.2012.6380732
Programmes:	NOC Programmes
ISBN:	978-1-4577-2054-3
Additional Information. Not used in RCUK Gateway to Research.:	ISSN 1522-3167
Additional Keywords:	auv, model predictive control
Date made live:	08 Jan 2013 16:47 +0 (UTC)
URI:	https://nora.nerc.ac.uk/id/eprint/446561

Item Type:

Publication - Book Section

Digital Object Identifier (DOI):

10.1109/AUV.2012.6380732

Programmes:

NOC Programmes

ISBN:

978-1-4577-2054-3

Additional Information. Not used in RCUK Gateway to Research.:

ISSN 1522-3167

Additional Keywords:

auv, model predictive control