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Robust Model Predictive Control for Autonomous Underwater Vehicle – Manipulator System with Fuzzy Compensator

Abstrakt

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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Creative Commons: CC-BY-NC-ND otwiera się w nowej karcie

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Kategoria:
Publikacja w czasopiśmie
Typ:
artykuły w czasopismach
Opublikowano w:
Polish Maritime Research nr 26, strony 163 - 171,
ISSN: 1233-2585
Język:
angielski
Rok wydania:
2019
Opis bibliograficzny:
Nejatbakhsh Esfahani H.: Robust Model Predictive Control for Autonomous Underwater Vehicle – Manipulator System with Fuzzy Compensator// Polish Maritime Research -Vol. 26,iss. 2 (2019), s.163-171
DOI:
Cyfrowy identyfikator dokumentu elektronicznego (otwiera się w nowej karcie) 10.2478/pomr-2019-0030
Bibliografia: test
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Weryfikacja:
Politechnika Gdańska

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