Title :
Predictive control for submergence rescue vehicle station and attitude maneuver
Author :
Zhang, Wei ; Zheng, Kewei ; Cai, Hegao ; Bian, Xinqian ; Shi, Xiaocheng
Author_Institution :
Mechatron. Eng. Dept., Harbin Inst. of Technol., Harbin
Abstract :
It is an important control process to operate motion of a submergence rescue vehicle (SRV). Seeing that the motion of the submergence rescue vehicle is special, it is necessary to employ non-linear predictive control system. For this reason, continuous dynamic performance of the system, the logical components and the operative restraints are expressed as the non-linear equations of state with the inequality restraints, and the model principle of hybrid system is introduced. It showed that the position and attitude of the SRV could be exactly controlled by means of non-linear model predictive control. The test in a model basin also proved that the above methods were efficient.
Keywords :
attitude control; nonlinear control systems; predictive control; underwater vehicles; attitude maneuver; nonlinear model predictive control; nonlinear state equations; submergence rescue vehicle station; Angular velocity; Attitude control; Automation; Automotive engineering; Nonlinear control systems; Predictive control; Predictive models; Process control; Propellers; Vehicles; hybrid model; non-linear system; predictive control; station and attitude; submergence rescue vehicle;
Conference_Titel :
Automation and Logistics, 2008. ICAL 2008. IEEE International Conference on
Conference_Location :
Qingdao
Print_ISBN :
978-1-4244-2502-0
Electronic_ISBN :
978-1-4244-2503-7
DOI :
10.1109/ICAL.2008.4636592