A model predictive control scheme for autonomous underwater vehicle formation control

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

Authors

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

Conference proceedings International

Title: Proceedings of the 2018 13th APCA International Conference on Control and Soft Computing (CONTROLO)

Pages: 195-200

Indexing

ISI Web of Science

Scopus - 0 Citations

INSPEC

Other information

Authenticus ID: P-00P-YAF

DOI: 10.1109/controlo.2018.8514302

Abstract (EN): In this article, we focus on the motion control of an AUV formation in order to track a given path along which data will be gathered via a computationally efficient architecture designed based on a special MPC control scheme. This control scheme enables the 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 very significant impact in power consumption. The key idea is to pre-compute data which is known to be time invariant for a number of likely scenarios and store it on-board in a number of look-up tables. Then, as the mission proceeds, sampled sensory and communicated data is gathered and the proposed MPC scheme allows to determine the best control to be recruited with inexpensive computational operations which include extraction of data from nertinent on-board look-un tables. © 2018 IEEE.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 6