Abstract This paper proposes an improved Model Predictive Control (MPC) approach including a fuzzy compensator in order to track desired trajectories of autonomous Underwater Vehicle Manipulator Systems (UVMS). The tracking performance can be affected by robot dynamical model uncertainties and applied external disturbances. Nevertheless, the MPC as a known proficient nonlinear control approach should be improved by the uncertainty estimator and disturbance compensator particularly in high nonlinear circumstances such as underwater environment in which operation of the UVMS is extremely impressed by added nonlinear terms to its model. In this research, a new methodology is proposed to promote robustness virtue of MPC that is done by designing a fuzzy compensator based on the uncertainty and disturbance estimation in order to reduce or even omit undesired effects of these perturbations. The proposed control design is compared with conventional MPC control approach to confirm the superiority of the proposed approach in terms of robustness against uncertainties, guaranteed stability and precision.


    Access

    Access via TIB

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Robust Model Predictive Control for Autonomous Underwater Vehicle – Manipulator System with Fuzzy Compensator


    Contributors:

    Published in:

    Publication date :

    2019




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    Unknown


    Classification :

    BKL:    50.92 Meerestechnik / 55.40 Schiffstechnik, Schiffbau




    An Autonomous Underwater Vehicle Manipulator System for Underwater Target Capturing

    Bian, Xinyu / Jiang, Tao / Guo, Teng et al. | IEEE | 2022


    Robust adaptive control of autonomous underwater vehicle

    Zhang, Y. / Chen, H.H. / Feng, X.S. | IEEE | 2002


    A robust interaction control approach for underwater vehicle manipulator systems

    Heshmati-Alamdari, Shahab / Bechlioulis, Charalampos P. / Karras, George C. et al. | BASE | 2018

    Free access

    Path Following Control of Autonomous Underwater Vehicle Using Nonlinear Model Predictive Control

    Taniguohi, Tomoki / Umeda, Jun / Fujiwara, Toshifumi et al. | British Library Conference Proceedings | 2020