JAREE (Journal on Advanced Research in Electrical Engineering)
Vol 4, No 1 (2020): April

Model Predictive Control of Autonomous Underwater Vehicles Based on Horizon Optimization

sudirman sudirman (Institut Teknologi Sepuluh Nopember)
Mochammad Rameli (Institut Teknologi Sepuluh Nopember)
Rusdhianto Effendi (Institut Teknologi Sepuluh Nopember)

Article Info

Publish Date
26 Apr 2020

Abstract

Heading control of Autonomous Underwater Vehicle (AUV) using Model Predictive Control (MPC) gives a good performance. Varying the length of the horizon provides a variety of performance. This paper is made in order to find out how many optimal horizons are needed to obtain the highest efficiency of energy use in AUV. Test results show a positive correlation between the length of the horizon and the amount of energy used. The optimal horizon obtained is then tested on several different trajectories.Keywords: autonomous underwater vehicle, horizon optimizatoin, model predictive control.

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Journal Info
JAREE (Journal on Advanced Research in Electrical Engineering)
Website

Abbrev

jaree

Publisher

Institut Teknologi Sepuluh Nopember Surabaya

Subject

Control & Systems Engineering Electrical & Electronics Engineering

Description

JAREE is an Open Access Journal published by the Department of Electrical Engineering, Institut Teknologi Sepuluh Nopember (ITS), Surabaya – Indonesia. Published twice a year every April and October, JAREE welcomes research papers with topics including power and energy systems, telecommunications ...