A Robust Reach Set MPC Scheme for Control of AUVs
Autor(a) principal: | |
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Data de Publicação: | 2018 |
Outros Autores: | |
Tipo de documento: | Livro |
Idioma: | eng |
Título da fonte: | Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
Texto Completo: | https://repositorio-aberto.up.pt/handle/10216/115914 |
Resumo: | A Robust Model Predictive Control (MPC) scheme for the control of formations of Autonomous Underwater Vehicles (AUVs) is presented and discussed. This application domain is extremely relevant and exhibits very difficult control challenges: (i) slow, low data-rate acoustic communications, (ii) significant perturbations inherent to the hydrodynamic environment, (iii) unexpected emergence of obstacles, and (iv) severe onboard computation constraints. While the later aspect is discussed by the Reach Set MPC scheme implementation which maximizes the a priori off-line computation as enabled by taking into account, as much as possible, invariant data, the other challenges are addressed by increasing the robustness of the proposed basic MPC scheme by considering a number of intermediate steps which, in spite of the increase of the on-line computational burden, this remains strongly lower than the one associated with typical standard MPC schemes. © Springer International Publishing AG 2018. |
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A Robust Reach Set MPC Scheme for Control of AUVsA Robust Model Predictive Control (MPC) scheme for the control of formations of Autonomous Underwater Vehicles (AUVs) is presented and discussed. This application domain is extremely relevant and exhibits very difficult control challenges: (i) slow, low data-rate acoustic communications, (ii) significant perturbations inherent to the hydrodynamic environment, (iii) unexpected emergence of obstacles, and (iv) severe onboard computation constraints. While the later aspect is discussed by the Reach Set MPC scheme implementation which maximizes the a priori off-line computation as enabled by taking into account, as much as possible, invariant data, the other challenges are addressed by increasing the robustness of the proposed basic MPC scheme by considering a number of intermediate steps which, in spite of the increase of the on-line computational burden, this remains strongly lower than the one associated with typical standard MPC schemes. © Springer International Publishing AG 2018.20182018-01-01T00:00:00Zinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/bookapplication/pdfhttps://repositorio-aberto.up.pt/handle/10216/115914eng10.1007/978-3-319-70836-2_18Rui GomesFernando Lobo Pereirainfo:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2023-11-29T15:39:37Zoai:repositorio-aberto.up.pt:10216/115914Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-20T00:29:01.155134Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse |
dc.title.none.fl_str_mv |
A Robust Reach Set MPC Scheme for Control of AUVs |
title |
A Robust Reach Set MPC Scheme for Control of AUVs |
spellingShingle |
A Robust Reach Set MPC Scheme for Control of AUVs Rui Gomes |
title_short |
A Robust Reach Set MPC Scheme for Control of AUVs |
title_full |
A Robust Reach Set MPC Scheme for Control of AUVs |
title_fullStr |
A Robust Reach Set MPC Scheme for Control of AUVs |
title_full_unstemmed |
A Robust Reach Set MPC Scheme for Control of AUVs |
title_sort |
A Robust Reach Set MPC Scheme for Control of AUVs |
author |
Rui Gomes |
author_facet |
Rui Gomes Fernando Lobo Pereira |
author_role |
author |
author2 |
Fernando Lobo Pereira |
author2_role |
author |
dc.contributor.author.fl_str_mv |
Rui Gomes Fernando Lobo Pereira |
description |
A Robust Model Predictive Control (MPC) scheme for the control of formations of Autonomous Underwater Vehicles (AUVs) is presented and discussed. This application domain is extremely relevant and exhibits very difficult control challenges: (i) slow, low data-rate acoustic communications, (ii) significant perturbations inherent to the hydrodynamic environment, (iii) unexpected emergence of obstacles, and (iv) severe onboard computation constraints. While the later aspect is discussed by the Reach Set MPC scheme implementation which maximizes the a priori off-line computation as enabled by taking into account, as much as possible, invariant data, the other challenges are addressed by increasing the robustness of the proposed basic MPC scheme by considering a number of intermediate steps which, in spite of the increase of the on-line computational burden, this remains strongly lower than the one associated with typical standard MPC schemes. © Springer International Publishing AG 2018. |
publishDate |
2018 |
dc.date.none.fl_str_mv |
2018 2018-01-01T00:00:00Z |
dc.type.status.fl_str_mv |
info:eu-repo/semantics/publishedVersion |
dc.type.driver.fl_str_mv |
info:eu-repo/semantics/book |
format |
book |
status_str |
publishedVersion |
dc.identifier.uri.fl_str_mv |
https://repositorio-aberto.up.pt/handle/10216/115914 |
url |
https://repositorio-aberto.up.pt/handle/10216/115914 |
dc.language.iso.fl_str_mv |
eng |
language |
eng |
dc.relation.none.fl_str_mv |
10.1007/978-3-319-70836-2_18 |
dc.rights.driver.fl_str_mv |
info:eu-repo/semantics/openAccess |
eu_rights_str_mv |
openAccess |
dc.format.none.fl_str_mv |
application/pdf |
dc.source.none.fl_str_mv |
reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação instacron:RCAAP |
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Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação |
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RCAAP |
institution |
RCAAP |
reponame_str |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
collection |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
repository.name.fl_str_mv |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação |
repository.mail.fl_str_mv |
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1799136201178873856 |