首页|Indirect Adaptive Generalized Predictive Control for an Autonomous Underwater Vehicle
Indirect Adaptive Generalized Predictive Control for an Autonomous Underwater Vehicle
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This paper investigates the application of indirect adaptive generalized predictive control to an autonomous underwater vehicle motion. A difference controlled auto-regressive integrated moving average model is used as the multi-step predictive model. Recursive least square method based on forgetting factors is used to identify the parameters of the difference controlled auto-regressive integrated moving average model. Simulation result shows that indirect adaptive generalized predictive control algorithm can be used to control the autonomous underwater vehicle motion.
autonomous underwater vehiclegeneralized predictive controlmotion control
Xu Jian-an、Liu Gui-fu、Zhao Wen-de、Zhang Ming-jun
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College of Mechanical & Electrical, Harbin Institute of Technology, Harbin 150001, China
State Shipbuilding Corporation System Engineering Research Institute, Beijing 100026 China
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