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Robust Model Predictive Control for Autonomous Underwater Vehicle–Manipulator System with Fuzzy Compensator
Abstract
This paper proposes an improved Model Predictive Control (MPC) approach including a fuzzy compensator in order to
track desired trajectories of autonomous Underwater Vehicle Manipulator Systems (UVMS). The tracking performance
can be affected by robot dynamical model uncertainties and applied external disturbances. Nevertheless, the MPC
as a known proficient nonlinear control approach should be improved by the uncertainty estimator and disturbance
compensator particularly in high nonlinear circumstances such as underwater environment in which operation of the
UVMS is extremely impressed by added nonlinear terms to its model. In this research, a new methodology is proposed
to promote robustness virtue of MPC that is done by designing a fuzzy compensator based on the uncertainty and
disturbance estimation in order to reduce or even omit undesired effects of these perturbations. The proposed control
design is compared with conventional MPC control approach to confirm the superiority of the proposed approach in
terms of robustness against uncertainties, guaranteed stability and precision.
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Details
- Category:
- Magazine publication
- Type:
- Magazine publication
- Published in:
-
Polish Maritime Research
no. 26,
edition 2,
pages 104 - 114,
ISSN: 1233-2585 - Publication year:
- 2019
- Verified by:
- No verification
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