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

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

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dc.contributor.author Cerrada Collado, Cristina es_ES
dc.contributor.author Chaos García, Dictino es_ES
dc.contributor.author Moreno-Salinas, David es_ES
dc.contributor.author Aranda Almansa, Joaquín es_ES
dc.date.accessioned 2023-11-07T13:45:39Z
dc.date.available 2023-11-07T13:45:39Z
dc.date.issued 2023-09-29
dc.identifier.issn 1697-7912
dc.identifier.uri http://hdl.handle.net/10251/199440
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. es_ES
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.sponsorship Este artículo ha sido financiado por el Ministerio de Ciencia e Innovación a través del proyecto con referencia PID2020-112502RB-C44. es_ES
dc.language Español es_ES
dc.publisher Universitat Politècnica de València es_ES
dc.relation.ispartof Revista Iberoamericana de Automática e Informática industrial es_ES
dc.rights Reconocimiento - No comercial - Compartir igual (by-nc-sa) es_ES
dc.subject Automatic control of marine and underwater systems es_ES
dc.subject Optimal control es_ES
dc.subject Nonlinear control es_ES
dc.subject Fault-tolerant control es_ES
dc.subject Control no lineal es_ES
dc.subject Control automático de sistemas marinos y subacuáticos es_ES
dc.subject Acomodación de fallos en sistemas de control es_ES
dc.subject Control óptimo es_ES
dc.title Ley de control óptima de un AUV funcionando con un único motor es_ES
dc.title.alternative Optimal control law of an AUV using a single thruster es_ES
dc.type Artículo es_ES
dc.identifier.doi 10.4995/riai.2023.19034
dc.relation.projectID info: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.rights.accessRights Abierto es_ES
dc.description.bibliographicCitation Cerrada 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.2023.19034 es_ES
dc.description.accrualMethod OJS es_ES
dc.relation.publisherversion https://doi.org/10.4995/riai.2023.19034 es_ES
dc.description.upvformatpinicio 389 es_ES
dc.description.upvformatpfin 400 es_ES
dc.type.version info:eu-repo/semantics/publishedVersion es_ES
dc.description.volume 20 es_ES
dc.description.issue 4 es_ES
dc.identifier.eissn 1697-7920
dc.relation.pasarela OJS\19034 es_ES
dc.contributor.funder Agencia Estatal de Investigación es_ES
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