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Title: High-gain observer-based model predictive control for cross tracking of underactuated autonomous Underwater Vehicles: A comparative study
Authors: Zhang, Guangjie
Yan, Weisheng
Gao, Jian
Liu, Changxin
Keywords: Autonomous underwater vehicle;High-gain observer;Model predictive control;Cross tracking;Current disturbance
Issue Date: Dec-2017
Publisher: NISCAIR-CSIR, India
Abstract: In this paper, a disturbance observer-based model predictive control (DO-MPC) scheme is developed for cross tracking of underactuated autonomous underwater vehicles (AUVs) under sea current disturbances. A high-gain observer is used to estimate the current velocity, external sway force and yaw torque. Based on the disturbance estimates, a nonlinear model predictive controller is designed with consideration of actuator constraints. The control inputs are solved by optimizing the future trajectories of the nonlinear system under input constraints within a certain time horizon, which are predicted by the system model with estimated disturbances. The stability of the predictive control cross-tracking system is also proved with a Lyapunor-based method. The comparative simulation results with different algorithms are provided to validate the effectiveness of the proposed method.
Page(s): 2444-2451
ISSN: 0975-1033 (Online); 0379-5136 (Print)
Appears in Collections:IJMS Vol.46(12) [December 2017]

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