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Predictive functional control algorithm for navigation of an autonomous underwater vehicle

Type of activity
Theses
Defense's date
2017-12-18
Abstract
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...
Keywords
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
Group of research
PERC-UPC - Power Electronics Research Centre
SARTI - Technological Development Center for Remote Acquisition and Data Processing System
SARTI-MAR -

Participants