CONTROL OF REMOTELY OPERATED UNDERWATER VEHICLE USING MODEL PREDICTIVE CONTROL

2021 ◽  
Vol 161 (A2) ◽  
Author(s):  
M P R Prasad ◽  
A Swarup
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Nonlinear Model ◽  
Attitude Control ◽  
Variable Structure ◽  
Underwater Vehicle ◽  
Remotely Operated Vehicle ◽  
Structure Control ◽  
Environment Model ◽  
Point Trajectories

This paper focuses on application of model predictive control on attitude control of remotely operated underwater vehicle. These vehicles are used in scientific, defence and oceanography applications. Remotely Operated Vehicle (ROV) considered in this paper is nonlinear model and complex. MPC is applied on ROV model to track in desired set point trajectories in the presence of uncertainties. Simulation has been carried out in MATLAB environment. Model Predictive Control has given significantly good results compared to PID, Adaptive and Variable structure control.

Control of Remotely Operated Underwater Vehicle Using Model Predictive Control

2019 ◽  
Vol 161 (A2) ◽  
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Nonlinear Model ◽  
Attitude Control ◽  
Variable Structure ◽  
Underwater Vehicle ◽  
Remotely Operated Vehicle ◽  
Structure Control ◽  
Environment Model ◽  
Point Trajectories

This paper focuses on application of model predictive control on attitude control of remotely operated underwater vehicle. These vehicles are used in scientific, defence and oceanography applications. Remotely Operated Vehicle (ROV) considered in this paper is nonlinear model and complex. MPC is applied on ROV model to track in desired set point trajectories in the presence of uncertainties. Simulation has been carried out in MATLAB environment. Model Predictive Control has given significantly good results compared to PID, Adaptive and Variable structure control.

Nonlinear Model Predictive Control Applied to an Autonomous Underwater Vehicle

2020 ◽  
Vol 45 (3) ◽  
pp. 799-812
Author(s):  
Rafael Meireles Saback ◽  
Andre Gustavo Scolari Conceicao ◽  
Tito Luis Maia Santos ◽  
Jan Albiez ◽  
Marco Reis
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Nonlinear Model ◽  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Nonlinear Model Predictive Control
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