A Robust Reach Set MPC Scheme for Control of AUVs

• Type: Article in International Conference Proceedings Book
• Date: 2018

Authors

Rui Gomes (Author) FEUP; Fernando Lobo Pereira (Author) FEUP

Conference proceedings International

Title: Advances in Intelligent Systems and Computing

Pages: 213-224

3rd Iberian Robotics Conference, ROBOT 2017

22 November 2017 through 24 November 2017

Indexing

Scopus - 0 Citations

Other information

Authenticus ID: P-00N-N5T

DOI: 10.1007/978-3-319-70836-2_18

Abstract (EN): A Robust Model Predictive Control (MPC) scheme for the control of formations of Autonomous Underwater Vehicles (AUVs) is presented and discussed. This application domain is extremely relevant and exhibits very difficult control challenges: (i) slow, low data-rate acoustic communications, (ii) significant perturbations inherent to the hydrodynamic environment, (iii) unexpected emergence of obstacles, and (iv) severe onboard computation constraints. While the later aspect is discussed by the Reach Set MPC scheme implementation which maximizes the a priori off-line computation as enabled by taking into account, as much as possible, invariant data, the other challenges are addressed by increasing the robustness of the proposed basic MPC scheme by considering a number of intermediate steps which, in spite of the increase of the on-line computational burden, this remains strongly lower than the one associated with typical standard MPC schemes. © Springer International Publishing AG 2018.

Language: English

Type (Professor's evaluation): Scientific