Distributed control design for underwater vehicles

BALDERUD J,GIOVANINI L, KATEBI M

Seul, Corea del Sur

Congreso; IFAC World Congress; 2008

IFAC

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 effectof communication failures on the closed-loop behaviour are analysed. Simulation results are presented to illustrate the effectiveness and practicality of the proposed control algorithm.