Optimization of the Energy Consumption of Depth Tracking Control Based on Model Predictive Control for Autonomous Underwater Vehicles

Yao, Feng; Yang, Chao; Zhang, Mingjun; Wang, Yujia

doi:10.3390/s19010162

Cited by 19 publications

(9 citation statements)

References 36 publications

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“…Comprehensively analyze the above two situations as shown in Equations (14) and (18), combined with the comparison principle of ordinary differential equations, it can be achieved that…”

Section: Of 26mentioning

confidence: 99%

“…Hence, state constraints which may lead to control effect degradation, and even instability and actuator faults, should be given attention [17]. There have been various approaches to deal with state constraints, such as model predictive control [18], reference governors [19], etc. One of various efficient approaches is the barrier Lyapunov function (BLF)-based control scheme, in which the value of the function approximates infinity when its arguments approach the constraints [20,21].…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Variable-Structure Near-Space Vehicles with Time-Varying State Constraints Attitude Control Based on Switched Nonlinear System

Feng

Wang

Liu

et al. 2020

Sensors

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This study is concerned with the attitude control problem of variable-structure near-space vehicles (VSNSVs) with time-varying state constraints based on switched nonlinear system. The full states of vehicles are constrained in the bounded sets with asymmetric time-varying boundaries. Firstly, considering modeling uncertainties and external disturbances, an extended state observer (ESO), including two distinct linear regions, is proposed with the advantage of avoiding the peaking value problem. The disturbance observer is utilized to estimate the total disturbances of the attitude angle and angular rate subsystems, which are described in switched nonlinear systems. Then, based on the estimation values, the asymmetric time-varying barrier Lyapunov function (BLF) is employed to construct the active disturbance rejection controller, which can ensure the full state constraints are not violated. Furthermore, to resolve the ‘explosion of complexity’ problem in backstepping control, a modified dynamic surface control is proposed. Rigorous stability analysis is given to prove that all signals of the closed-loop system are bounded. Numerical simulations are carried out to demonstrate the effectiveness of the proposed control scheme.

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“…Comprehensively analyze the above two situations as shown in Equations (14) and (18), combined with the comparison principle of ordinary differential equations, it can be achieved that…”

Section: Of 26mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Variable-Structure Near-Space Vehicles with Time-Varying State Constraints Attitude Control Based on Switched Nonlinear System

Feng

Wang

Liu

et al. 2020

Sensors

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show abstract

“…Yao proposed an energy consumption reduction method based on MPC (model predictive control) with a quadratic energy consumption term added into the cost function for AUV's trajectory tracking control. e simulation results showed that the proposed MPC method is feasible and effective for energy consumption reduction of AUV even with great model uncertainty [20].…”

Section: Introductionmentioning

confidence: 96%

Energy Consumption Modeling and Sensitivity Analysis for Deep-Argo Otarriinae Profiling Float

Xue

Liu

et al. 2020

Mathematical Problems in Engineering

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Deep-Argo Otarriinae profiling float is a new type of Argo profiling float that has a maximum diving depth of more than 4,000 m. It can collect ocean scientific data all-weather and uninterruptedly, which provides reliable data support for the global ocean scientific research. The working time of Deep-Argo profiling float is an important indicator of its practicality and economy, and it is clear that the energy consumption is a key factor in determining its working time. In this paper, the single profile energy consumption model with 19 parameters of Deep-Argo Otarriinae is established and the main effect indices and total effect indices of the energy consumption parameters to energy consumption are calculated using Sobol’ sensitivity analysis method, aiming to find the parameters that have the greatest impact on energy consumption. The results show that the gliding angle, the diving depth, and the gliding speed have a significant impact on energy consumption of Deep-Argo Otarriinae. The results of simulation have a good match with the actual application and have certain reference significance for the determination of the design parameters and the selection of the navigation parameters. This paper also provides a new idea of multiparameter energy consumption modeling for underwater equipment using buoyancy regulation.

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“…Controller design for AUVs has been a challenge because controllers are closely linked to AUV dynamics in complex underwater environments [9][10][11]. The AUV controller can consist of discrete models, continuous models, and their interaction in a hybrid dynamic system (HDS), as modeled by hybrid automata (HA) [12][13][14][15].…”

Section: Introductionmentioning

confidence: 99%

A MBSE Application to Controllers of Autonomous Underwater Vehicles Based on Model-Driven Architecture Concepts

Hien

Truong

et al. 2020

Applied Sciences

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In this paper, a hybrid realization model is proposed for the controllers of autonomous underwater vehicles (AUVs). This model is based on the model-based systems engineering (MBSE) methodology, in combination with the model-driven architecture (MDA), the real-time unified modeling language (UML)/systems modeling language (SysML), the extended/unscented Kalman filter (EKF/UKF) algorithms, and hybrid automata, and it can be reused for designing controllers of various AUV types. The dynamic model and control structure of AUVs were combined with the specialization of MDA concepts as follows. The computation-independent model (CIM) was specified by the use-case model combined with the EKF/UKF algorithms and hybrid automata to intensively gather the control requirements. Then, the platform-independent model (PIM) was specialized using the real-time UML/SysML to design the capsule collaboration of control and its connections. The detailed PIM was subsequently converted into the platform-specific model (PSM) using open-source platforms to promptly realize the AUV controller. On the basis of the proposed hybrid model, a planar trajectory-tracking controller, which allows a miniature torpedo-shaped AUV to autonomously track the desired planar trajectory, was implemented and evaluated, and shown to have good feasibility.

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Optimization of the Energy Consumption of Depth Tracking Control Based on Model Predictive Control for Autonomous Underwater Vehicles

Cited by 19 publications

References 36 publications

Variable-Structure Near-Space Vehicles with Time-Varying State Constraints Attitude Control Based on Switched Nonlinear System

Variable-Structure Near-Space Vehicles with Time-Varying State Constraints Attitude Control Based on Switched Nonlinear System

Energy Consumption Modeling and Sensitivity Analysis for Deep-Argo Otarriinae Profiling Float

A MBSE Application to Controllers of Autonomous Underwater Vehicles Based on Model-Driven Architecture Concepts

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