Asset Details
Do you wish to reserve the book?
Optimization of the Energy Consumption of Depth Tracking Control Based on Model Predictive Control for Autonomous Underwater Vehicles
Hey, we have placed the reservation for you!
By the way, why not check out events that you can attend while you pick your title.
Oops! Something went wrong.
Looks like we were not able to place the reservation. Kindly try again later.
Are you sure you want to remove the book from the shelf?
Optimization of the Energy Consumption of Depth Tracking Control Based on Model Predictive Control for Autonomous Underwater Vehicles
Do you wish to request the book?
Optimization of the Energy Consumption of Depth Tracking Control Based on Model Predictive Control for Autonomous Underwater Vehicles
Please be aware that the book you have requested cannot be checked out. If you would like to checkout this book, you can reserve another copy
We have requested the book for you!
Your request is successful and it will be processed during the Library working hours. Please check the status of your request in My Requests.
Oops! Something went wrong.
Looks like we were not able to place your request. Kindly try again later.
Journal Article
Optimization of the Energy Consumption of Depth Tracking Control Based on Model Predictive Control for Autonomous Underwater Vehicles
2019
Overview
For long-term missions in complex seas, the onboard energy resources of autonomous underwater vehicles (AUVs) are limited. Thus, energy consumption reduction is an important aspect of the study of AUVs. This paper addresses energy consumption reduction using model predictive control (MPC) based on the state space model of AUVs for trajectory tracking control. Unlike the previous approaches, which use a cost function that consists of quadratic deviations of the predicted controlled output from the reference trajectory and quadratic input changes, a term of quadratic energy (i.e., quadratic input) is introduced into the cost function in this paper. Then, the MPC control law with the new cost function is constructed, and an analysis on the effect of the quadratic energy term on the stability is given. Finally, simulation results for depth tracking control are given to demonstrate the feasibility and effectiveness of the improved MPC on energy consumption optimization for AUVs.
Publisher
MDPI AG,MDPI
