Indirect Adaptive Generalized Predictive Control for an Autonomous Underwater Vehicle

Abstract:

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This paper investigates the application of indirect adaptive generalized predictive control to an autonomous underwater vehicle motion. A difference controlled auto-regressive integrated moving average model is used as the multi-step predictive model. Recursive least square method based on forgetting factors is used to identify the parameters of the difference controlled auto-regressive integrated moving average model. Simulation result shows that indirect adaptive generalized predictive control algorithm can be used to control the autonomous underwater vehicle motion.

Info:

Periodical:

Key Engineering Materials (Volumes 419-420)

Edited by:

Daizhong Su, Qingbin Zhang and Shifan Zhu

Pages:

837-840

DOI:

10.4028/www.scientific.net/KEM.419-420.837

Citation:

J. A. Xu et al., "Indirect Adaptive Generalized Predictive Control for an Autonomous Underwater Vehicle", Key Engineering Materials, Vols. 419-420, pp. 837-840, 2010

Online since:

October 2009

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Price:

$35.00

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