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Predictive functional control algorithm for navigation of an autonomous underwater vehicle

Tipus d'activitat
Tesi doctoral
Data de la defensa
2017-12-18
Resum
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 study, we focus on the Predictive Functional Control (PFC), which is a control strategy that is easy to understand, install, and tune and optimize. PFC is being developed and applied in industrial applications such as distillation, reactors, and furnaces. This document presents the first application of the Predictive Functio...
Paraules clau
TSK-Fuzzy, autonomous underwater vehicles, gain-schedulling, high-level control, industrial control systems., intermediate-level control, management of constraints, motion control, path following, point stabilization, predictive functional control
Grup de recerca
PERC-UPC - Centre de Recerca d'Electrònica de Potència UPC
SARTI - Centre de Desenvolupament Tecnològic de Sistemes d'Adquisició Remota i Tractament de la Informació
SARTI-MAR - Sistemes d'Adquisició Remota de dades i Tractament de la Informació en el Medi Marí

Participants