Model Predictive Control of Autonomous Underwater Vehicles Based on Horizon Optimization
Heading control of Autonomous Underwater Vehicle (AUV) using Model Predictive Control (MPC) gives a good performance. Varying the length of the horizon provides a variety of performance. This paper is made in order to find out how many optimal horizons are needed to obtain the highest efficiency of...
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| Published in: | JAREE (Journal on Advanced Research in Electrical Engineering) (Online) Vol. 4; no. 1 |
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| Main Author: | |
| Format: | Journal Article |
| Language: | English |
| Published: |
Institut Teknologi Sepuluh Nopember
26-04-2020
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| Online Access: | Get full text |
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| Summary: | Heading control of Autonomous Underwater Vehicle (AUV) using Model Predictive Control (MPC) gives a good performance. Varying the length of the horizon provides a variety of performance. This paper is made in order to find out how many optimal horizons are needed to obtain the highest efficiency of energy use in AUV. Test results show a positive correlation between the length of the horizon and the amount of energy used. The optimal horizon obtained is then tested on several different trajectories. |
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| ISSN: | 2580-0361 2579-6216 |
| DOI: | 10.12962/j25796216.v4.i1.109 |