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Ponencia
Map Meshing Impact on the Efficiency of Nonlinear Set-based Model Predictive Control for Water Quality Assessment
Autor/es | Anderson, Alejandro
García Martín, Javier Bouraqadi, Noury Etienne, Lucien Fabresse, Luc Langueh, Kokou A.A. Lozenguez, Guillaume Rajaoarisoa, Lala H. Maestre Torreblanca, José María Duviella, Éric |
Departamento | Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática |
Fecha de publicación | 2022 |
Fecha de depósito | 2023-04-28 |
Publicado en |
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ISBN/ISSN | 2405-8963 |
Resumen | Unmanned Surface Vehicles (USVs) are used to collect data of physicochemical parameters used to determine the degradation of freshwater resources. An optimal strategy based on a Nonlinear set-based Model Predictive Control ... Unmanned Surface Vehicles (USVs) are used to collect data of physicochemical parameters used to determine the degradation of freshwater resources. An optimal strategy based on a Nonlinear set-based Model Predictive Control (NMPC) is designed to improve the control of the USVs. This work offers a theoretical novel formulation of NMPC and explains the interest of set-based NMPC. The influence of meshing the map of the area of interest is then studied and it is finally demonstrated that complex trajectories, i.e. spiral or u-turn or even exploring in small areas can be made easy from the control point of view by using hexagonal set-based instead of square NMPCs. |
Cita | Anderson, A., García Martín, J., Bouraqadi, N., Etienne, L., Fabresse, L., Langueh, K.A.A.,...,Duviella, É. (2022). Map Meshing Impact on the Efficiency of Nonlinear Set-based Model Predictive Control for Water Quality Assessment. En 2nd IFAC Workshop on Control Methods for Water Resource Systems, CMWRS 2022, IFAC-PapersOnLine, 55 (33) (105-110). |
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