Robust MPC-based trajectory tracking of autonomous underwater vehicles with model uncertainty

A robust model predictive control (MPC) method with dual closed-loops is presented to handle trajectory tracking of autonomous underwater vehicle (AUV) with uncertain model parameters and random external perturbations. First, constraint conditions are set for the motion state and control input of th...

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Bibliographic Details

Published in:	Ocean engineering Vol. 286; p. 115617
Main Authors:	Yan, Zheping, Yan, Jinyu, Cai, Sijia, Yu, Yuyang, Wu, Yifan
Format:	Journal Article
Language:	English
Published:	Elsevier Ltd 15.10.2023
Subjects:	Autonomous underwater vehicle Extended state observer Robust model predictive control Trajectory tracking Extended state observer Trajectory tracking Robust model predictive control Autonomous underwater vehicle
ISSN:	0029-8018, 1873-5258
Online Access:	Get full text
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