Model predictive control of a hybrid autonomous underwater vehicle with experimental verification

Steenson, L.V.; Turnock, S.R.; Phillips, A.B.; Harris, C.; Furlong, M.E.; Rogers, E.; Wang, L.; Bodles, K.; Evans, D.W.

Steenson, L.V.; Turnock, S.R.; Phillips, A.B.; Harris, C.; Furlong, M.E.; Rogers, E.; Wang, L.; Bodles, K.; Evans, D.W.. 2014 Model predictive control of a hybrid autonomous underwater vehicle with experimental verification. Proceedings of the Institution of Mechanical Engineers, Part M: Journal of Engineering for the Maritime Environment, 228 (2). 166-179. 10.1177/1475090213506185

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Abstract

In this work model predictive control is used to provide transit and hover capabilities for an autonomous underwater vehicle where the description of the system dynamics used include terms measured experimentally. The resulting controller manoeuvres the vehicle in the presence of constraints on the actuators and results obtained from the deployment of the vehicle in an inland lake for the study of the Zebra mussel, an invasive species, are also given.

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