A genetic algorithm-based model predictive control autopilot design and its implementation in an autonomous underwater vehicle

The control of any underwater vehicle has always been a challenging task and is certainly an important and necessary feature of an autonomous underwater vehicle (AUV). This paper describes the implementation of a genetic algorithm (GA)-based model predictive controller for an AUV named Hammerhead which is being developed jointly by the Universities of Plymouth and Cranfield. To the present authors' knowledge, this is the first successful application of a GA in realtime optimization for controller tuning in the marine sector and thus the paper makes an extremely novel and useful contribution to control system design. The advantages of using model predictive control (MPC) include its constraint handling and disturbance rejection properties commonly present in an underwater environment. The use of GAs generalizes MPC to employ linear as well as nonlinear process models. Furthermore, it supports the inclusion of various types of objective function without having to change the controller structure. The model required for MPC is extracted using system identification techniques on actual AUV data obtained from full-scale in-water tests. A description of Hammerhead AUV is outlined and simulation and experiment data are shown which were obtained by optimizing the cost function online using the GA. Results demonstrate good tracking behaviour despite the presence of disturbances and ever-present modelling uncertainty.

[1]  Jan M. Maciejowski,et al.  Predictive control : with constraints , 2002 .

[2]  C. J. Harris,et al.  Neurofuzzy identification of an autonomous underwater vehicle , 1999, Int. J. Syst. Sci..

[3]  J. L. Testud,et al.  Paper: Model predictive heuristic control , 1978 .

[4]  Tamaki Ura,et al.  An on-line adaptation method in a neural network based control system for AUVs , 1995 .

[5]  Robert Sutton,et al.  An integrated approach in the design of a navigation system for an AUV , 2003 .

[6]  W.-D. Chou,et al.  Incremental motion control of an induction motor servo drive via a genetic-algorithm-based sliding mode controller , 2003 .

[7]  David W. Clarke,et al.  Generalized predictive control - Part I. The basic algorithm , 1987, Autom..

[8]  Robert Sutton,et al.  Control strategies for unmanned underwater vehicles , 1998 .

[9]  David W. Clarke,et al.  Generalized Predictive Control - Part II Extensions and interpretations , 1987, Autom..

[10]  Antonio Pedro Aguiar,et al.  Modeling and control of an autonomous underwater shuttle for the transport of benthic laboratories , 1997, Oceans '97. MTS/IEEE Conference Proceedings.

[11]  Jay H. Lee,et al.  Model predictive control: past, present and future , 1999 .

[12]  A. J. Marco,et al.  Command, Control and Navigation: Experimental Results with the NPS , 2001 .

[13]  Fraser Dalgleish,et al.  Preliminary Experiments in the Development of a Laser-Based Imaging Sensor for AUV Navigation , 2003 .

[14]  Gwyn Griffiths,et al.  Versatile autonomous submersibles - the realising and testing of a practical vehicle , 1998 .

[15]  Wasif Naeem,et al.  Model predictive control of an autonomous underwater vehicle , 2002 .

[16]  J. Richalet,et al.  Model predictive heuristic control: Applications to industrial processes , 1978, Autom..

[17]  Sauro Longhi,et al.  Multiple Models Control of a Remotely Operated Vehicle: Analysis of Models Structure and Complexity , 2001 .

[18]  Junichi Kojima,et al.  Control performance of autonomous underwater vehicle "AQUA EXPLORER 1000" for inspection of underwater cables , 1994, Proceedings of OCEANS'94.

[19]  Kyu-Yeul Lee,et al.  Estimation of hydrodynamic coefficients for an AUV using nonlinear observers , 2002 .

[20]  A. J. Healey,et al.  Multivariable sliding mode control for autonomous diving and steering of unmanned underwater vehicles , 1993 .

[21]  C. R. Cutler,et al.  Dynamic matrix control¿A computer control algorithm , 1979 .

[22]  M. Pebody,et al.  Navigation and Control of an Autonomous Underwater Vehicle using a Distributed , 1998 .

[23]  Kenichi Asakawa,et al.  Cable tracking for autonomous underwater vehicle , 1994, Proceedings of IEEE Symposium on Autonomous Underwater Vehicle Technology (AUV'94).

[24]  Lennart Ljung,et al.  System Identification: Theory for the User , 1987 .

[25]  Naomi Kato,et al.  Autonomous underwater vehicle AQUA EXPLORER 1000 for inspection of underwater cables , 1996, Proceedings of Symposium on Autonomous Underwater Vehicle Technology.

[26]  Manfred Morari,et al.  Model predictive control: Theory and practice - A survey , 1989, Autom..

[27]  James B. Rawlings,et al.  Tutorial overview of model predictive control , 2000 .

[28]  J. Richalet,et al.  Industrial applications of model based predictive control , 1993, Autom..