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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Veröffentlicht in:	Ocean engineering Jg. 286; S. 115617
Hauptverfasser:	Yan, Zheping, Yan, Jinyu, Cai, Sijia, Yu, Yuyang, Wu, Yifan
Format:	Journal Article
Sprache:	Englisch
Veröffentlicht:	Elsevier Ltd 15.10.2023
Schlagworte:	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-Zugang:	Volltext
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