Distributed control design for underwater vehicles

J. Balderud, L. Giovanini, M.R. Katebi

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Abstract

The vast majority of control applications are based on non-interacting decentralized control designs. Because of their single-loop structure, these controllers cannot suppress interactions of the system. It would be useful to tackle the undesirable effects of the interactions at the design stage. A novel model predictive control scheme based on Nash optimality is presented to achieve this goal. In this algorithm, the control problem is decomposed into that of several small-coupled mixed integer optimisation problems. The relevant computational convergence, closed-loop performance and the effect of communication failures on the closed-loop behaviour are analysed. Simulation results are presented to illustrate the effectiveness and practicality of the proposed control algorithm.
Original languageEnglish
Title of host publicationProceedings of the 17th IFAC World Congress
EditorsMyung Jin Chung, Pradeep Misra
Place of PublicationSeoul, Korea
Pages16033-16038
Number of pages5
Volume41
DOIs
Publication statusPublished - 2008

Publication series

NameIFAC Proceedings
Number2
Volume41

Keywords

  • decentralized control
  • receding horizon control
  • constrained systems
  • Nash optimality

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    Balderud, J., Giovanini, L., & Katebi, M. R. (2008). Distributed control design for underwater vehicles. In M. J. Chung, & P. Misra (Eds.), Proceedings of the 17th IFAC World Congress (Vol. 41, pp. 16033-16038). (IFAC Proceedings; Vol. 41, No. 2).. https://doi.org/10.3182/20080706-5-KR-1001.02710