Aiming at the underactuated and nonlinear system of underwater vehicle, this paper studies the control of depth-fixing motion. The first is to analyze the kinematics and dynamics of the underwater vehicle, so as to establish the corresponding depth-fixing motion control model. Secondly, the controller based on the model predictive control algorithm is designed in the Simulink platform to realize the depth-fixing motion control and anti-disturbance test of the underwater vehicle. At the same time, the PID algorithm is introduced to compare the step response of the two. Finally, according to the simulation results, it can be concluded that the controller based on the MPC algorithm can effectively reduce the overshoot of the underwater vehicle, the control system can converge to the target value faster, and has strong anti-interference ability.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    MPC-based Motion Control of Underwater Vehicle with Fixed Depth


    Beteiligte:
    Yu, Wenjie (Autor:in) / Liang, Quan (Autor:in) / Xiong, Neng (Autor:in) / Hong, Chuanbo (Autor:in)

    Kongress:

    EEI 2022 - 4th International Conference on Electronic Engineering and Informatics ; 2022 ; Guiyang, China


    Erschienen in:

    Erscheinungsdatum :

    2022-01-01


    Format / Umfang :

    4 pages



    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Exploration with Loop-Closing in Depth-Fixed Navigation for Autonomous Underwater Vehicle

    He, B. / Lv, C. / Yang, L. et al. | British Library Conference Proceedings | 2009



    Fixed-wing aerial underwater vehicle and control method thereof

    ZENG ZHENG / LIAN LIAN / LU DI et al. | Europäisches Patentamt | 2022

    Freier Zugriff

    FIXED-WING AERIAL UNDERWATER VEHICLE AND CONTROL METHOD THEREOF

    ZENG ZHENG / LIAN LIAN / LU DI et al. | Europäisches Patentamt | 2021

    Freier Zugriff

    Sliding control of motion of underwater vehicle

    Garus, J. / Kitowski, Z. | British Library Conference Proceedings | 1999