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dc.contributor.authorPineda Muñoz, Wilman Alonso
dc.contributor.authorGauthier Sellier, Alain
dc.contributor.authorGomáriz Castro, Spartacus
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament d'Enginyeria Electrònica
dc.identifier.citationPineda, W., Gauthier, A., Gomariz, S. The predictive functional control and the management of constraints in GUANAY II autonomous underwater vehicle actuators. "IEEE access", 9 Maig 2018, vol. 6, núm. 1, p. 22353-22367.
dc.description.abstractAutonomous underwater vehicle control has been a topic of research in the last decades. The challenges addressed vary depending on each research group's interests. In this paper, we focus on the predictive functional control (PFC), which is a control strategy that is easy to understand, install, tune, and optimize. PFC is being developed and applied in industrial applications, such as distillation, reactors, and furnaces. This paper presents the rst application of the PFC in autonomous underwater vehicles, as well as the simulation results of PFC, fuzzy, and gain scheduling controllers. Through simulations and navigation tests at sea, which successfully validate the performance of PFC strategy in motion control of autonomous underwater vehicles, PFC performance is compared with other control techniques such as fuzzy and gain scheduling control. The experimental tests presented here offer effective results concerning control objectives in high and intermediate levels of control. In high-level point, stabilization and path following scenarios are proven. In the intermediate levels, the results show that position and speed behaviors are improved using the PFC controller, which offers the smoothest behavior. The simulation depicting predictive functional control was the most effective regarding constraints management and control rate change in the Guanay II underwater vehicle actuator. The industry has not embraced the development of control theories for industrial systems because of the high investment in experts required to implement each technique successfully. However, this paper on the functional predictive control strategy evidences its easy implementation in several applications, making it a viable option for the industry given the short time needed to learn, implement, and operate, decreasing impact on the business and increasing immediacy.
dc.format.extent15 p.
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)
dc.rightsAttribution-NonCommercial-NoDerivs 3.0 Spain
dc.subjectÀrees temàtiques de la UPC::Enginyeria electrònica
dc.subject.otherAutonomous underwater vehicles
dc.subject.otherpredictive functional control
dc.subject.othermanagement of constraints
dc.subject.otherhigh-level control
dc.subject.otherintermediate level control
dc.subject.othermotion control
dc.subject.otherpoint stabilization
dc.subject.otherpath following
dc.subject.otherindustrial control systems.
dc.titleThe predictive functional control and the management of constraints in GUANAY II autonomous underwater vehicle actuators
dc.subject.lemacVaixells -- Control automàtic
dc.description.peerreviewedPeer Reviewed
dc.rights.accessOpen Access
dc.description.versionPostprint (author's final draft)
local.citation.authorPineda, W.; Gauthier, A.; Gomariz, S.
local.citation.publicationNameIEEE access

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