Title :
Model predictive control of buoyancy propelled autonomous underwater glider
Author :
Abraham, Ian ; Jingang Yi
Author_Institution :
Dept. of Mech. & Aerosp. Eng., Rutgers Univ., Piscataway, NJ, USA
Abstract :
Autonomous underwater gliders (AUG) is a cost-effective and efficient tool for oceanic exploration and discovery. Because of limited onboard computation and sensing capability and energy constraint, the AUGs are susceptible to oceanic disturbances. In this paper, we present a model predictive control (MPC) design to compensate for the drift due to disturbances. We first validate the three-dimensional AUG nonlinear dynamic model with experimental data. To enhance the control performance, a time suspension technique is designed and integrated with the MPC to guarantee the AUG to follow a given path rather than time-dependent trajectory. We simulate and compare the MPC-based controller with the experimental data obtained by the onboard PID controller. The comparison results confirm superior performance than the onboard PID controller.
Keywords :
autonomous underwater vehicles; compensation; control system synthesis; nonlinear dynamical systems; oceanographic techniques; predictive control; three-term control; vehicle dynamics; 3D AUG nonlinear dynamic model; buoyancy propelled autonomous underwater glider; drift compensation; energy constraint; limited onboard computation; model predictive control design; oceanic discovery; oceanic disturbances; oceanic exploration; onboard PID controller; sensing capability; time suspension technique; Dynamics; Electronic ballasts; Kinematics; Oceans; Predictive models; Trajectory; Vehicle dynamics;
Conference_Titel :
American Control Conference (ACC), 2015
Conference_Location :
Chicago, IL
Print_ISBN :
978-1-4799-8685-9
DOI :
10.1109/ACC.2015.7170893