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

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dc.contributor.authorCerrada Collado, Cristinaes_ES
dc.contributor.authorChaos García, Dictinoes_ES
dc.contributor.authorMoreno-Salinas, Davides_ES
dc.contributor.authorAranda Almansa, Joaquínes_ES
dc.contributor.funderAgencia Estatal de Investigaciónes_ES
dc.date.accessioned2023-11-07T13:45:39Z
dc.date.available2023-11-07T13:45:39Z
dc.date.issued2023-09-29
dc.description.abstract[EN] The present paper presents a optimization problem of a control law to minimize the integral square error produced by driving an AUV (Autonomous Underwater Vehicle) using a single thruster from a start point to a desired recovery area. In addition, two possible control solutions are studied and their implementation in the real vehicle. Genetic algorithms are employed to optimize the control law and two solutions are proposed. In the first solution, a control law sampled as a function of time is optimized. And in the second solutions, an optimal control action as a function of the orientation of the vehicle from a control law represented by a Fourier series is used. The correct functioning of the proposed solutions is demonstrated through a series of simulations that consider different conditions and possible situations.en_EN
dc.description.abstract[ES] 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.es_ES
dc.description.accrualMethodOJSes_ES
dc.description.bibliographicCitationCerrada Collado, C.; Chaos García, D.; Moreno-Salinas, D.; Aranda Almansa, J. (2023). Ley de control óptima de un AUV funcionando con un único motor. Revista Iberoamericana de Automática e Informática industrial. 20(4):389-400. https://doi.org/10.4995/riai.2023.19034es_ES
dc.description.issue4es_ES
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dc.description.sponsorshipEste artículo ha sido financiado por el Ministerio de Ciencia e Innovación a través del proyecto con referencia PID2020-112502RB-C44.es_ES
dc.description.upvformatpfin400es_ES
dc.description.upvformatpinicio389es_ES
dc.description.volume20es_ES
dc.identifier.doi10.4995/riai.2023.19034
dc.identifier.eissn1697-7920
dc.identifier.issn1697-7912
dc.identifier.urihttps://riunet.upv.es/handle/10251/199440
dc.languageEspañoles_ES
dc.publisherUniversitat Politècnica de Valènciaes_ES
dc.relation.ispartofRevista Iberoamericana de Automática e Informática industriales_ES
dc.relation.pasarelaOJS\19034es_ES
dc.relation.projectIDinfo:eu-repo/grantAgreement/AEI/Plan Estatal de Investigación Científica y Técnica y de Innovación 2017-2020/PID2020-112502RB-C44/ES/NAUTILUS: MODELADO E IDENTIFICACION DE AUVS. ENFOQUES TEORICOS Y PRACTICOS./es_ES
dc.relation.publisherversionhttps://doi.org/10.4995/riai.2023.19034es_ES
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dc.rightsReconocimiento - No comercial - Compartir igual (by-nc-sa)es_ES
dc.rights.accessRightsAbiertoes_ES
dc.subjectAutomatic control of marine and underwater systemses_ES
dc.subjectOptimal controles_ES
dc.subjectNonlinear controles_ES
dc.subjectFault-tolerant controles_ES
dc.subjectControl no lineales_ES
dc.subjectControl automático de sistemas marinos y subacuáticoses_ES
dc.subjectAcomodación de fallos en sistemas de controles_ES
dc.subjectControl óptimoes_ES
dc.titleLey de control óptima de un AUV funcionando con un único motores_ES
dc.title.alternativeOptimal control law of an AUV using a single thrusteres_ES
dc.typeArtículoes_ES
dc.type.versioninfo:eu-repo/semantics/publishedVersiones_ES
dspace.entity.typePublication
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Revista Iberoamericana de Automática e Informática Industrial - Vol 20, No 4 (2023)