Robust Model Predictive Control Based on Active Disturbance Rejection Control for a Robotic Autonomous Underwater Vehicle
This work aims to develop a robust model predictive control (MPC) based on the active disturbance rejection control (ADRC) approach by using a discrete extended disturbance observer (ESO). The proposed technique uses the ADRC approach to lump disturbances and uncertainties into a total disturbance,...
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-04-01
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| Series: | Journal of Marine Science and Engineering |
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| Online Access: | https://www.mdpi.com/2077-1312/11/5/929 |
| _version_ | 1797599614778474496 |
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| author | Jaime Arcos-Legarda Álvaro Gutiérrez |
| author_facet | Jaime Arcos-Legarda Álvaro Gutiérrez |
| author_sort | Jaime Arcos-Legarda |
| collection | DOAJ |
| description | This work aims to develop a robust model predictive control (MPC) based on the active disturbance rejection control (ADRC) approach by using a discrete extended disturbance observer (ESO). The proposed technique uses the ADRC approach to lump disturbances and uncertainties into a total disturbance, which is estimated with a discrete ESO and rejected through feedback control. Thus, the effects of the disturbances are attenuated, and a model predictive control is designed based on a canonical model free of uncertainties and disturbances. The proposed control technique is tested through simulation into a robotic autonomous underwater vehicle (AUV). The AUV’s dynamic model is used to compare the performance of a classical MPC and the combined MPC-ADRC. The evaluation results show evidence of the superiority of the MPC-ADRC over the classical MPC under tests of reference tracking, external disturbances rejection, and model uncertainties attenuation. |
| first_indexed | 2024-03-11T03:36:45Z |
| format | Article |
| id | doaj.art-b220645397a0403c9a579d83fbed305a |
| institution | Directory Open Access Journal |
| issn | 2077-1312 |
| language | English |
| last_indexed | 2024-03-11T03:36:45Z |
| publishDate | 2023-04-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Journal of Marine Science and Engineering |
| spelling | doaj.art-b220645397a0403c9a579d83fbed305a2023-11-18T01:58:38ZengMDPI AGJournal of Marine Science and Engineering2077-13122023-04-0111592910.3390/jmse11050929Robust Model Predictive Control Based on Active Disturbance Rejection Control for a Robotic Autonomous Underwater VehicleJaime Arcos-Legarda0Álvaro Gutiérrez1Escuela Técnica Superior de Ingenieros de Telecomunicación, Universidad Politécnica de Madrid, 28040 Madrid, SpainEscuela Técnica Superior de Ingenieros de Telecomunicación, Universidad Politécnica de Madrid, 28040 Madrid, SpainThis work aims to develop a robust model predictive control (MPC) based on the active disturbance rejection control (ADRC) approach by using a discrete extended disturbance observer (ESO). The proposed technique uses the ADRC approach to lump disturbances and uncertainties into a total disturbance, which is estimated with a discrete ESO and rejected through feedback control. Thus, the effects of the disturbances are attenuated, and a model predictive control is designed based on a canonical model free of uncertainties and disturbances. The proposed control technique is tested through simulation into a robotic autonomous underwater vehicle (AUV). The AUV’s dynamic model is used to compare the performance of a classical MPC and the combined MPC-ADRC. The evaluation results show evidence of the superiority of the MPC-ADRC over the classical MPC under tests of reference tracking, external disturbances rejection, and model uncertainties attenuation.https://www.mdpi.com/2077-1312/11/5/929model predictive controlactive disturbance rejection controlextended state observerautonomous underwater vehiclesunderwater robotics |
| spellingShingle | Jaime Arcos-Legarda Álvaro Gutiérrez Robust Model Predictive Control Based on Active Disturbance Rejection Control for a Robotic Autonomous Underwater Vehicle Journal of Marine Science and Engineering model predictive control active disturbance rejection control extended state observer autonomous underwater vehicles underwater robotics |
| title | Robust Model Predictive Control Based on Active Disturbance Rejection Control for a Robotic Autonomous Underwater Vehicle |
| title_full | Robust Model Predictive Control Based on Active Disturbance Rejection Control for a Robotic Autonomous Underwater Vehicle |
| title_fullStr | Robust Model Predictive Control Based on Active Disturbance Rejection Control for a Robotic Autonomous Underwater Vehicle |
| title_full_unstemmed | Robust Model Predictive Control Based on Active Disturbance Rejection Control for a Robotic Autonomous Underwater Vehicle |
| title_short | Robust Model Predictive Control Based on Active Disturbance Rejection Control for a Robotic Autonomous Underwater Vehicle |
| title_sort | robust model predictive control based on active disturbance rejection control for a robotic autonomous underwater vehicle |
| topic | model predictive control active disturbance rejection control extended state observer autonomous underwater vehicles underwater robotics |
| url | https://www.mdpi.com/2077-1312/11/5/929 |
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