Path Following Control of Autonomous Underwater Vehicle Using Nonlinear Model Predictive Control

2020 ◽  
Author(s):  
Tomoki Taniguchi ◽  
Jun Umeda ◽  
Toshifumi Fujiwara ◽  
Kangsoo Kim ◽  
Takumi Sato ◽  
...  
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Nonlinear Model ◽  
Control Strategy ◽  
Autonomous Underwater Vehicle ◽  
Path Following ◽  
Nonlinear Model Predictive Control ◽  
Reference Trajectory ◽  
Arrival Times ◽  
Path Following Control

Abstract The path following control of an AUV considering arrival times at waypoints is proposed in this paper. The temporal constraint is considered by adding the surge velocity and the nominal thrust force as reference trajectory in the objective function of the nonlinear model predictive control (NMPC). The proposed control strategy uses fewer reference variables than conventional trajectory tracking problems. The simulated results of the proposed control strategy are compared to the NMRI Cruising AUV#4 actual dive data. The simulated arrival times of waypoints were matched well to the measured data. Two guidance laws, the line of sight with lookahead-based steering law and the pure pursuit guidance law, are also applied to NMPC to determine reference yaw angle.

Nonlinear Model Predictive Control of Axial Piston Pumps

2017 ◽  
Vol 139 (8) ◽  
Author(s):  
Paul Zeman ◽  
Wolfgang Kemmetmüller ◽  
Andreas Kugi
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Nonlinear Model ◽  
Control Strategy ◽  
Direct Method ◽  
Electronic Control Unit ◽  
Nonlinear Model Predictive Control ◽  
Stick Slip ◽  
Swash Plate ◽  
Axial Piston

Variable displacement axial piston units are the core components of many hydrostatic and hydraulic hybrid drive trains. Therein, the fast and accurate control of the swash plate angle, utilizing the full possible dynamics of the displacement system, is essential for a good performance of the overall drive train. This paper describes the development, implementation, and the experimental validation of a control strategy for the swash plate angle based on nonlinear model predictive control (NMPC). A tailored mathematical model, which serves as the basis for the NMPC, is described in the first part of the paper. Two versions of NMPC, an indirect and a direct method, are compared with respect to their numerical complexity and their capability of handling input and state constraints. An observer strategy, which is designed to obtain the nonmeasurable states and varying parameters of the system, completes the overall control strategy. To reduce the negative influence of stick–slip friction, the concept of dithering is applied in the experimental implementation. The differences of the NMPC methods are analyzed by simulation studies and experiments. Finally, the experimental results, using an industrial electronic control unit (ECU), prove the practical feasibility and the improved control accuracy and robustness in comparison to classical (nonlinear) control strategies.

Sign in / Sign up

Export Citation Format

Share Document