A Model Predictive Control Scheme for Autonomous Underwater Vehicle Formation Control

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2018

Autores

Rui Gomes (Autor) Outra; Fernando Lobo Pereira (Autor) FEUP

Ata de Conferência Internacional

Título: 2018 13TH APCA INTERNATIONAL CONFERENCE ON CONTROL AND SOFT COMPUTING (CONTROLO)

Páginas: 195-200

13th APCA International Conference on Control and Soft Computing (CONTROLO)

Univ Azores, Ponta Delgada, PORTUGAL, JUN 04-06, 2018

Indexação

ISI Web of Knowledge - 2 Citações

Scopus

INSPEC

Outras Informações

ID Authenticus: P-00P-Z77

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 pertinent on-board look-up tables.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 6