Title :
Integrated navigation and control system for an uninhabited surface vehicle based on interval Kalman filtering and model predictive control
Author :
Annamalai, A. Sk ; Motwani, A. ; Sutton, R. ; Yang, C. ; Sharma, S. ; Culverhouse, P.
Author_Institution :
Fac. of Sci. & Technol., Plymouth Univ., Plymouth, UK
Abstract :
An integrated navigation, guidance and control system is designed for an uninhabited surface vehicle named Springer built at Plymouth University. Interval Kalman filtering is used for navigation. Line of sight is used for guidance. Model predictive control is utilised to build the control system, or autopilot. The performance of this innovative navigation, guidance and control system is benchmarked against a conventional optimal method based on a linear quadratic Gaussian controller which uses traditional Kalman filtering. The performance of the systems are compared and analysed in this paper.
Keywords :
Kalman filters; autonomous underwater vehicles; linear quadratic Gaussian control; mobile robots; predictive control; Plymouth University; Springer; integrated navigation-guidance-and-control system; interval Kalman filtering; line-of-sight; linear quadratic Gaussian controller; model predictive control; uninhabited surface vehicle; 1. Uninhabited surface vehicle; 2. Interval Kalman filtering; 3. Model predictive control; 4. Navigation, guidance and control;
Conference_Titel :
Control and Automation 2013: Uniting Problems and Solutions, IET Conference on
Conference_Location :
Birmingham
Electronic_ISBN :
978-1-84919-710-6
DOI :
10.1049/cp.2013.0017