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

Kontrol ve Otomasyon Mühendisliği Bölümü

Istanbul Technical University

Araştırma çıktısı: Kitap/Rapor/Konferans Bildirisinde Bölüm › Konferans katkısı › Hakem

1 Atıf (Scopus)

Özet

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.

Orijinal dil	İngilizce
Ana bilgisayar yayını başlığı	2022 9th International Conference on Electrical and Electronics Engineering, ICEEE 2022
Yayınlayan	Institute of Electrical and Electronics Engineers Inc.
Sayfalar	198-205
Sayfa sayısı	8
ISBN (Elektronik)	9781665467544
DOI'lar	https://doi.org/10.1109/ICEEE55327.2022.9772598
Yayın durumu	Yayınlandı - 2022
Etkinlik	9th International Conference on Electrical and Electronics Engineering, ICEEE 2022 - Alanya, Türkiye Süre: 29 Mar 2022 → 31 Mar 2022

Yayın serisi

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

???event.eventtypes.event.conference???

???event.eventtypes.event.conference???	9th International Conference on Electrical and Electronics Engineering, ICEEE 2022
Ülke/Bölge	Türkiye
Şehir	Alanya
Periyot	29/03/22 → 31/03/22

Bibliyografik not

Publisher Copyright:
© 2022 IEEE.

Belgeye Erişim

10.1109/ICEEE55327.2022.9772598

Diğer Dosyalar ve Linkler

Link to publication in Scopus

Alıntı Yap

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

@inproceedings{d0b8ad24095d46bb963c445b8ceb2cf6,

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",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "198--205",

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

address = "United States",

}

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, Türkiye, 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).

Araştırma çıktısı: Kitap/Rapor/Konferans Bildirisinde Bölüm › Konferans katkısı › Hakem

TY - GEN

T1 - I&I Based An Adaptive MPC Approach for An Uncertain Underwater Vehicle Model

AU - Topbas, Harun

AU - Yalcin, Yaprak

PY - 2022

Y1 - 2022

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.

KW - Immersion and invariance

KW - Model predictive control

KW - Underwater vehicle

UR - https://www.scopus.com/pages/publications/85130940373

U2 - 10.1109/ICEEE55327.2022.9772598

DO - 10.1109/ICEEE55327.2022.9772598

M3 - Conference contribution

AN - SCOPUS:85130940373

T3 - 2022 9th International Conference on Electrical and Electronics Engineering, ICEEE 2022

SP - 198

EP - 205

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

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 9th International Conference on Electrical and Electronics Engineering, ICEEE 2022

Y2 - 29 March 2022 through 31 March 2022

ER -

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

Özet

Yayın serisi

???event.eventtypes.event.conference???

Bibliyografik not

Belgeye Erişim

Diğer Dosyalar ve Linkler

Parmak izi

Alıntı Yap