Energy-Optimal Control for Autonomous Underwater Vehicles Using Economic Model Predictive Control

Improving endurance is important for autonomous underwater vehicles (AUVs) as it affects the operational cost and application range of the vehicle. In this article, we propose an economic model predictive control (EMPC)-based controller to reduce the control energy of AUVs while performing waypoint...

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Bibliographic Details
Published in:IEEE transactions on control systems technology 2022-11, Vol.30 (6), p.2377-2390
Main Authors: Yang, Niankai, Chang, Dongsik, Johnson-Roberson, Matthew, Sun, Jing
Format: Article
Language:English
Subjects:
Approximation
Autonomous underwater vehicle (AUV)
Autonomous underwater vehicles
control-oriented AUV model
Controllers
Costs
Drift
Economic analysis
economic model predictive control (EMPC)
Economic models
Energy
Energy costs
Energy efficiency
Energy management
energy-efficient maneuver
energy-optimal control
Horizon
Line of sight
Ocean currents
Operating costs
Optimal control
Predictive control
Tracking control
Trajectory optimization
Vehicle dynamics
Vehicles
waypoint tracking
Waypoints
Yaw
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