Alex Swift
Research project title:
Model Predictive Control of underwater floating-base manipulator systems in rough seas
Principal goal for project:
Develop a controller based on Model Predictive Control to be used on an underwater vehicle manipulator system (UVMS) in rough seas.
Research project:
Rough sea conditions are a large factor limiting the time that underwater robots can be used offshore. Model Predictive Control is a promising approach to enable use of underwater robots in rougher conditions as it would enable the robot to pre-emptively react to disturbances from the ocean, allowing for more precise position tracking. This project aims to apply this approach specifically to UVMS, where very precise position tracking is required for accurate manipulation with offshore installations.
