Dynamic Positioning for Autonomous Underwater Vehicles: A Tube Model Predictive Control Approach
This paper proposes a novel tube model predictive control approach for dynamic positioning of autonomous underwater vehicles with state and input constraints. The cost function is selected as a mixture of weighted 1-norms and [Formula: see text]-norms of states and inputs, which can be reconstructed into linear summation form. Specially, a method is presented to calculate the weighted matrix of the terminal cost so that closed-loop stability is achieved. The proposed control problem can be solved by linear programming, which provides high computational efficiency. Experimental results on “UVIC-I” AUV are conducted to validate the viability and validity of the presented method.
Authors
- Feng Yao (ORCID: https://orcid.org/0000-0002-5989-5174)
- Jitao Li (ORCID: https://orcid.org/0000-0002-2941-7534)
- Xiangyu Shao (ORCID: https://orcid.org/0000-0002-7779-2267)
- Bing Guo
- Wenhan Zhang (ORCID: https://orcid.org/0000-0003-4552-3780)
- Mingjun Zhang (ORCID: https://orcid.org/0000-0002-8090-5963)
Institutions
- Harbin Engineering University (CN)
- Harbin Institute of Technology (CN)
- Shanghai Institute of Computing Technology (CN)
- Shanghai Institute of Technology (CN)
Publication Details
- Journal
- Unmanned Systems
- Published
- 2024-08-30
- DOI
- https://doi.org/10.1142/s2301385025420014
- Citations
- 1
- Primary Topic
- Underwater Vehicles and Communication Systems
- Type
- article
- Field-Weighted Citation Impact
- 0.34
Funders
- National Natural Science Foundation of China
- Fundamental Research Funds for the Central Universities
- Science Fund for Distinguished Young Scholars of Heilongjiang Province