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Block diagonal dominant remotely operated vehicle model simulation using decentralized model predictive control

Lookup NU author(s): Weipeng Lin, Professor Cheng ChinORCiD

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This work is licensed under a Creative Commons Attribution 4.0 International License (CC BY 4.0).

Abstract

Model predictive control on a highly-coupled open-frame remotely-operated vehicle (ROV) system subjected to uncertain disturbances has always been a challenge. A decentralized model predictive control (MPC) uses a design scaling to balance the interactions between the loops to achieve a block diagonal dominant ROV model is used. The numerical stability of the MPC algorithm improves despite the sensitivity of the control parameters on the output performance. The MPC gives a better 2-error norm performance and more tuning options to control the velocity and position output as compared to other design scaling methods and other controllers such as proportional-integral-derivative (PID), Fuzzy-logic, sliding-mode and PI-P cascaded control when subjected to underwater current disturbance.

Publication metadata

Author(s): Lin WP, Chin CS

Publication type: Article

Publication status: Published

Journal: Advances in Mechanical Engineering

Year: 2017

Volume: 9

Issue: 4

Pages: 1-24

Print publication date: 01/04/2017

Online publication date: 05/04/2017

Acceptance date: 16/02/2017

Date deposited: 18/04/2017

ISSN (print): 1687-8132

ISSN (electronic): 1687-8140

Publisher: Sage Publications Ltd.

URL: https://doi.org/10.1177/1687814017698886

DOI: 10.1177/1687814017698886

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