Publicación: Optimal control law of an AUV using a single thruster
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2023
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info:eu-repo/semantics/openAccess
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Comité Español de Autonomática (CEA-IFAC)
Resumen
En este artículo se plantea el problema de optimización de una ley de control para minimizar el error cuadrático integral al conducir un AUV (Autonomous Underwater Vehicle, vehículo autónomo submarino) actuado con un único motor desde un punto de partida hasta una zona de recuperación deseada. Así mismo se muestran dos posibles soluciones de control y se discute su implementación en el vehículo. Para la optimización de la ley de control se utilizarán los algoritmos genéticos y se proponen dos soluciones: En la primera se optimiza la ley de control muestreada en función del tiempo. La segunda, por su parte, emplea una acción de control óptima en función de la orientación del vehículo a partir de una ley de control representada mediante una serie de Fourier. El correcto funcionamiento de las soluciones propuestas se demuestra mediante una serie de simulaciones que consideran distintas condiciones y situaciones posibles.
The present paper presents a optimization problem of a control law to minimize the integral square error produced by driving an AUV (Autonomous Underwater Vehicle) using a single thruster from a start point to a desired recovery area. In addition, two possible control solutions are studied and their implementation in the real vehicle. Genetic algorithms are employed to optimize the control law and two solutions are proposed. In the first solution, a control law sampled as a function of time is optimized. And in the second solutions, an optimal control action as a function of the orientation of the vehicle from a control law represented by a Fourier series is used. The correct functioning of the proposed solutions is demonstrated through a series of simulations that consider different conditions and possible situations.
The present paper presents a optimization problem of a control law to minimize the integral square error produced by driving an AUV (Autonomous Underwater Vehicle) using a single thruster from a start point to a desired recovery area. In addition, two possible control solutions are studied and their implementation in the real vehicle. Genetic algorithms are employed to optimize the control law and two solutions are proposed. In the first solution, a control law sampled as a function of time is optimized. And in the second solutions, an optimal control action as a function of the orientation of the vehicle from a control law represented by a Fourier series is used. The correct functioning of the proposed solutions is demonstrated through a series of simulations that consider different conditions and possible situations.
Descripción
Categorías UNESCO
Palabras clave
Control automático de sistemas marinos y subacuáticos, control óptimo, control no lineal, acomodación de fallos en sistemas de control.
Citación
Centro
E.T.S. de Ingeniería Informática
Departamento
Informática y Automática