Ley de control óptima de un AUV funcionando con un único motor

Cristina Cerrada Collado; Dictino Chaos García; David Moreno-Salinas; Joaquín Aranda Almansa

doi:10.4995/riai.2023.19034

Autores/as

Cristina Cerrada Universidad Nacional de Educación a Distancia (UNED)
Dictino Chaos Universidad Nacional de Educación a Distancia (UNED)
David Moreno-Salinas Universidad Nacional de Educación a Distancia (UNED)
Joaquín Aranda Universidad Nacional de Educación a Distancia (UNED)

DOI:

https://doi.org/10.4995/riai.2023.19034

Palabras clave:

control no lineal, control automático de sistemas marinos y subacuáticos, acomodación de fallos en sistemas de control, control óptimo

Resumen

En este artículo se plantea el problema de optimización de una ley de control para minimizar el error cuadrático integral al conducir un AUV (Autonomous Underwater Vehicle, vehículo autónomo submarino) actuado con un único motor desde un punto de partida hasta una zona de recuperación deseada. Así mismo se muestran dos posibles soluciones de control y se discute su implementación en el vehículo. Para la optimización de la ley de control se utilizarán los algoritmos genéticos y se proponen dos soluciones: En la primera se optimiza la ley de control muestreada en función del tiempo. La segunda, por su parte, emplea una acción de control óptima en función de la orientación del vehículo a partir de una ley de control representada mediante una serie de Fourier. El correcto funcionamiento de las soluciones propuestas se demuestra mediante una serie de simulaciones que consideran distintas condiciones y situaciones posibles.

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Biografía del autor/a

Cristina Cerrada, Universidad Nacional de Educación a Distancia (UNED)

Departamento de Informática y Automática

Dictino Chaos, Universidad Nacional de Educación a Distancia (UNED)

Departamento de Informática y Automática

David Moreno-Salinas, Universidad Nacional de Educación a Distancia (UNED)

Departamento de Informática y Automática

Joaquín Aranda, Universidad Nacional de Educación a Distancia (UNED)

Departamento de Informática y Automática

Citas

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