Distributed control of underwater vehicles
Balderud, J. and Giovanini, L. and Katebi, M.R. (2008) Distributed control of underwater vehicles. Proceedings of the Institution of Mechanical Engineers, Part M: Journal of Engineering for the Maritime Environment, 222 (2). pp. 95-107. ISSN 1475-0902 (http://dx.doi.org/10.1243/14750902JEME87)
Full text not available in this repository.Request a copyAbstract
Despite the closed-loop performance of centralized multi-variable controllers, the vast majority of control applications are still based on decentralized controllers. Because of their single-loop structure, decentralized controllers cannot suppress interactions of the system, which are only taken into account in the controller tuning phase. Therefore, it would be useful in many cases to tackle the undesirable effects of the interactions on the closed-loop system. A novel model predictive control scheme based on Nash optimality is presented to achieve this goal. In this algorithm the centralized optimization is decomposed into that of several small coupled optimization problems. The relevant computational convergence, the closed-loop performance, and the effect of communication failures on the closed-loop behaviour are analysed. The control problem is illustrated to verify the effectiveness and practicality of the proposed control algorithm.
-
-
Item type: Article ID code: 11905 Dates: DateEvent2008PublishedSubjects: Technology > Electrical engineering. Electronics Nuclear engineering Department: Faculty of Engineering > Electronic and Electrical Engineering Depositing user: Strathprints Administrator Date deposited: 30 Jun 2010 08:31 Last modified: 08 Apr 2024 16:53 URI: https://strathprints.strath.ac.uk/id/eprint/11905