Indirect Adaptive Generalized Predictive Control for an Autonomous Underwater Vehicle

Jian An Xu; Gui Fu Liu; Wen De Zhao; Ming Jun Zhang

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

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HomeKey Engineering MaterialsKey Engineering Materials Vols. 419-420Indirect Adaptive Generalized Predictive Control...

Indirect Adaptive Generalized Predictive Control for an Autonomous Underwater Vehicle

Abstract:

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.

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Periodical:

Key Engineering Materials (Volumes 419-420)

Pages:

837-840

DOI:

https://doi.org/10.4028/www.scientific.net/KEM.419-420.837

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Online since:

October 2009

Authors:

Jian An Xu, Gui Fu Liu, Wen De Zhao, Ming Jun Zhang

Keywords:

Autonomous Underwater Vehicle (AUV), Generalized Predictive Control (GPC), Motion Control

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