The Predictive Functional Control and the Management of Constraints in GUANAY II Autonomous Underwater Vehicle Actuators
| Autor: | Spartacus Gomariz Castro, Alain Gauthier Sellier, Wilman Alonso Pineda Munoz |
|---|---|
| Přispěvatelé: | Universitat Politècnica de Catalunya. Departament d'Enginyeria Electrònica |
| Rok vydání: | 2018 |
| Předmět: |
0209 industrial biotechnology
General Computer Science Computer science motion control Control (management) 02 engineering and technology 01 natural sciences Fuzzy logic 010305 fluids & plasmas Vehicle dynamics industrial control systems 020901 industrial engineering & automation Control theory gain-schedulling 0103 physical sciences TSK-Fuzzy General Materials Science Autonomous underwater vehicles Underwater point stabilization path following Enginyeria electrònica [Àrees temàtiques de la UPC] General Engineering high-level control Control engineering Industrial control system predictive functional control Motion control Ships--Automation Model predictive control Gain scheduling intermediate level control management of constraints lcsh:Electrical engineering. Electronics. Nuclear engineering Vaixells -- Control automàtic Actuator lcsh:TK1-9971 |
| Zdroj: | Recercat. Dipósit de la Recerca de Catalunya instname UPCommons. Portal del coneixement obert de la UPC Universitat Politècnica de Catalunya (UPC) IEEE Access, Vol 6, Pp 22353-22367 (2018) |
| ISSN: | 2169-3536 |
| DOI: | 10.1109/access.2018.2828325 |
| Popis: | Autonomous underwater vehicle control has been a topic of research in the last decades. The challenges addressed vary depending on each research group's interests. In this paper, we focus on the predictive functional control (PFC), which is a control strategy that is easy to understand, install, tune, and optimize. PFC is being developed and applied in industrial applications, such as distillation, reactors, and furnaces. This paper presents the rst application of the PFC in autonomous underwater vehicles, as well as the simulation results of PFC, fuzzy, and gain scheduling controllers. Through simulations and navigation tests at sea, which successfully validate the performance of PFC strategy in motion control of autonomous underwater vehicles, PFC performance is compared with other control techniques such as fuzzy and gain scheduling control. The experimental tests presented here offer effective results concerning control objectives in high and intermediate levels of control. In high-level point, stabilization and path following scenarios are proven. In the intermediate levels, the results show that position and speed behaviors are improved using the PFC controller, which offers the smoothest behavior. The simulation depicting predictive functional control was the most effective regarding constraints management and control rate change in the Guanay II underwater vehicle actuator. The industry has not embraced the development of control theories for industrial systems because of the high investment in experts required to implement each technique successfully. However, this paper on the functional predictive control strategy evidences its easy implementation in several applications, making it a viable option for the industry given the short time needed to learn, implement, and operate, decreasing impact on the business and increasing immediacy. |
| Databáze: | OpenAIRE |
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