A General Attainable-Set Model Predictive Control Scheme. Application to AUV Operations

• Type: Article in International Conference Proceedings Book
• Date: 2018-10-15

Authors

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

Conference proceedings International

Title: IFAC PAPERSONLINE

Pages: 314-319

3rd IFAC Conference on Advances in Proportional-Integral-Derivative Control (PID)

Ghent Univ, Ghent, BELGIUM, MAY 09-11, 2018

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Other information

Authenticus ID: P-00P-ZYS

DOI: 10.1016/j.ifacol.2018.11.402

Abstract (EN): In this article, a Model Predictive Control (MPC) scheme that, by taking advantage of the control problem time invariant ingredients, replaces as much as possible the on-line computational burden of the conventional schemes, by off-line computation, is presented and its asymptotic stability shown. The generated data is stored onboard in look-up tables and recruited and adapted on-line with small computation effort according to the real-time context specified by communicated or sensed data. This scheme is particularly important to the increasing range of applications exhibiting severe real-time constraints. The approach presented here provides a better re-conciliation of onboard resources optimization with state feedback control - to deal with the typical a priori high uncertainty - while managing the formation with a low computational budget which otherwise might have a significant impact in power consumption.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 6