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IJME 533

Paper Title: Control of Remotely Operated Underwater Vehicle Using Model Predictive Control 

 

Authors

M P R Prasad and A Swarup, National Institute of Technology, Kurukshetra, India

Summary  

This paper focuses on application of model predictive control on attitude control of remotely operated underwater vehicle. These vehicles are used in scientific, defence and oceanography applications. Remotely Operated Vehicle (ROV) considered in this paper is nonlinear model and complex. MPC is applied on ROV model to track in desired set point trajectories in the presence of uncertainties. Simulation has been carried out in MATLAB environment. Model Predictive Control has given significantly good results compared to PID, Adaptive and Variable structure control.

 

Reference

Transactions RINA, Vol 161, Part A2, International Journal Maritime Engineering, Apr - Jun 2019 

DOI Number

DOI No: 10.3940/rina.ijme.2019.a2.533

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