Distributed control design for underwater vehicles

Balderud, J. and Giovanini, L. and Katebi, M.R. (2008) Distributed control design for underwater vehicles. In: Proceedings of the 17th IFAC World Congress. IFAC Proceedings, 41 . International Federation of Automatic Control, Seoul, Korea, pp. 16033-16038. ISBN 9783902661005

[img]
Preview
Text (strathprints007342)
strathprints007342.pdf
Accepted Author Manuscript

Download (224kB)| Preview

    Abstract

    The vast majority of control applications are based on non-interacting decentralized control designs. Because of their single-loop structure, these controllers cannot suppress interactions of the system. It would be useful to tackle the undesirable effects of the interactions at the design stage. A novel model predictive control scheme based on Nash optimality is presented to achieve this goal. In this algorithm, the control problem is decomposed into that of several small-coupled mixed integer optimisation problems. The relevant computational convergence, closed-loop performance and the effect of communication failures on the closed-loop behaviour are analysed. Simulation results are presented to illustrate the effectiveness and practicality of the proposed control algorithm.