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A Model Predictive Control Approach to AUVs Motion Coordination

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Coordination Control of Distributed Systems

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 456))

Abstract

The problem of coordinating the motion of autonomous underwater vehicles under constrained acoustic communications is formulated and investigated in the context of the model predictive control (MPC) framework. The impact of acoustic communications and perturbations on the motion performance and robustness is discussed. A reach set formulation of the MPC scheme is outlined.

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Notes

  1. 1.

    ADCP and IMU stand by acoustic Doppler current profiler, and inertial measurement unit, respectively. While the former provides water current velocity measurements, the former measures position, velocity, and orientation.

  2. 2.

    From now on, “\(T\)” in upper script will denote transposed.

  3. 3.

    The matrices \( {\Phi }^j(T) \) and \( {\Psi }^j(T) \) are obtained by integrating the piecewise constant linear system in \((x,u)\) approximating the original system over the sampling period \(T\).

  4. 4.

    State constraints are omitted to facilitate the exposition.

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Authors and Affiliations

  1. Faculdade de Engenharia, Universidade do Porto, Rua Dr. Roberto Frias, s/n, 4200-465, Porto, Portugal

    Fernando Lobo Pereira, J. Borges de Sousa, R. Gomes & P. Calado

Authors
  1. Fernando Lobo Pereira
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  2. J. Borges de Sousa
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  3. R. Gomes
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  4. P. Calado
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Corresponding author

Correspondence to Fernando Lobo Pereira .

Editor information

Editors and Affiliations

  1. Delft Institute of Applied Mathematics, Delft University of Technology, Delft, The Netherlands

    Jan H. van Schuppen

  2. Dipartimento d'Informatica, Università degli studi di Verona, Verona, Italy

    Tiziano Villa

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Lobo Pereira, F., Borges de Sousa, J., Gomes, R., Calado, P. (2015). A Model Predictive Control Approach to AUVs Motion Coordination. In: van Schuppen, J., Villa, T. (eds) Coordination Control of Distributed Systems. Lecture Notes in Control and Information Sciences, vol 456. Springer, Cham. https://doi.org/10.1007/978-3-319-10407-2_2

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  • DOI: https://doi.org/10.1007/978-3-319-10407-2_2

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-10406-5

  • Online ISBN: 978-3-319-10407-2

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