I&I Based An Adaptive MPC Approach for An Uncertain Underwater Vehicle Model

Harun Topbas; Yaprak Yalcin

doi:10.1109/ICEEE55327.2022.9772598

I&I Based An Adaptive MPC Approach for An Uncertain Underwater Vehicle Model

Harun Topbas, Yaprak Yalcin

Department of Control and Automation Engineering

Istanbul Technical University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Citation (Scopus)

Abstract

This paper considers adaptive model predictive control of an underwater vehicle with an uncertain discrete-time model that contains a singular regressor matrix complicating to estimate uncertain parameters online. As the first, immersion and invariance-based estimator is designed via a state augmentation approach to remove the singularity of the regressor matrix, and stability of the estimator is investigated. Then, using the information coming from the designed estimator, an adaptive linear model predictive control is established for reference trajectory tracking considering some hard and soft constraints. The performance of the proposed estimator and adaptive model predictive control is presented by simulation results.

Original language	English
Title of host publication	2022 9th International Conference on Electrical and Electronics Engineering, ICEEE 2022
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	198-205
Number of pages	8
ISBN (Electronic)	9781665467544
DOIs	https://doi.org/10.1109/ICEEE55327.2022.9772598
Publication status	Published - 2022
Event	9th International Conference on Electrical and Electronics Engineering, ICEEE 2022 - Alanya, Turkey Duration: 29 Mar 2022 → 31 Mar 2022

Publication series

Name	2022 9th International Conference on Electrical and Electronics Engineering, ICEEE 2022

Conference

Conference	9th International Conference on Electrical and Electronics Engineering, ICEEE 2022
Country/Territory	Turkey
City	Alanya
Period	29/03/22 → 31/03/22

Bibliographical note

Publisher Copyright:
© 2022 IEEE.

Keywords

Immersion and invariance
Model predictive control
Underwater vehicle

Access to Document

10.1109/ICEEE55327.2022.9772598

Cite this

Topbas, H., & Yalcin, Y. (2022). I&I Based An Adaptive MPC Approach for An Uncertain Underwater Vehicle Model. In 2022 9th International Conference on Electrical and Electronics Engineering, ICEEE 2022 (pp. 198-205). (2022 9th International Conference on Electrical and Electronics Engineering, ICEEE 2022). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICEEE55327.2022.9772598

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title = "I&I Based An Adaptive MPC Approach for An Uncertain Underwater Vehicle Model",

abstract = "This paper considers adaptive model predictive control of an underwater vehicle with an uncertain discrete-time model that contains a singular regressor matrix complicating to estimate uncertain parameters online. As the first, immersion and invariance-based estimator is designed via a state augmentation approach to remove the singularity of the regressor matrix, and stability of the estimator is investigated. Then, using the information coming from the designed estimator, an adaptive linear model predictive control is established for reference trajectory tracking considering some hard and soft constraints. The performance of the proposed estimator and adaptive model predictive control is presented by simulation results.",

keywords = "Immersion and invariance, Model predictive control, Underwater vehicle",

author = "Harun Topbas and Yaprak Yalcin",

note = "Publisher Copyright: {\textcopyright} 2022 IEEE.; 9th International Conference on Electrical and Electronics Engineering, ICEEE 2022 ; Conference date: 29-03-2022 Through 31-03-2022",

year = "2022",

doi = "10.1109/ICEEE55327.2022.9772598",

language = "English",

series = "2022 9th International Conference on Electrical and Electronics Engineering, ICEEE 2022",

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Topbas, H & Yalcin, Y 2022, I&I Based An Adaptive MPC Approach for An Uncertain Underwater Vehicle Model. in 2022 9th International Conference on Electrical and Electronics Engineering, ICEEE 2022. 2022 9th International Conference on Electrical and Electronics Engineering, ICEEE 2022, Institute of Electrical and Electronics Engineers Inc., pp. 198-205, 9th International Conference on Electrical and Electronics Engineering, ICEEE 2022, Alanya, Turkey, 29/03/22. https://doi.org/10.1109/ICEEE55327.2022.9772598

I&I Based An Adaptive MPC Approach for An Uncertain Underwater Vehicle Model. / Topbas, Harun; Yalcin, Yaprak.
2022 9th International Conference on Electrical and Electronics Engineering, ICEEE 2022. Institute of Electrical and Electronics Engineers Inc., 2022. p. 198-205 (2022 9th International Conference on Electrical and Electronics Engineering, ICEEE 2022).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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N2 - This paper considers adaptive model predictive control of an underwater vehicle with an uncertain discrete-time model that contains a singular regressor matrix complicating to estimate uncertain parameters online. As the first, immersion and invariance-based estimator is designed via a state augmentation approach to remove the singularity of the regressor matrix, and stability of the estimator is investigated. Then, using the information coming from the designed estimator, an adaptive linear model predictive control is established for reference trajectory tracking considering some hard and soft constraints. The performance of the proposed estimator and adaptive model predictive control is presented by simulation results.

AB - This paper considers adaptive model predictive control of an underwater vehicle with an uncertain discrete-time model that contains a singular regressor matrix complicating to estimate uncertain parameters online. As the first, immersion and invariance-based estimator is designed via a state augmentation approach to remove the singularity of the regressor matrix, and stability of the estimator is investigated. Then, using the information coming from the designed estimator, an adaptive linear model predictive control is established for reference trajectory tracking considering some hard and soft constraints. The performance of the proposed estimator and adaptive model predictive control is presented by simulation results.

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M3 - Conference contribution

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BT - 2022 9th International Conference on Electrical and Electronics Engineering, ICEEE 2022

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Topbas H, Yalcin Y. I&I Based An Adaptive MPC Approach for An Uncertain Underwater Vehicle Model. In 2022 9th International Conference on Electrical and Electronics Engineering, ICEEE 2022. Institute of Electrical and Electronics Engineers Inc. 2022. p. 198-205. (2022 9th International Conference on Electrical and Electronics Engineering, ICEEE 2022). doi: 10.1109/ICEEE55327.2022.9772598

I&I Based An Adaptive MPC Approach for An Uncertain Underwater Vehicle Model

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