Extreme learning-based non-linear model predictive controller for an autonomous underwater vehicle: simulation and experimental results
In this study, an extreme learning-based non-linear model predictive controller (NMPC) is proposed for path following planning of an autonomous underwater vehicle (AUV) using horizontal way-points. The proposed controller comprises a kinematic controller and a dynamic controller. The kinematic contr...
Main Authors: | , |
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Format: | Article |
Language: | English |
Published: |
Wiley
2019-07-01
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Series: | IET Cyber-systems and Robotics |
Subjects: | |
Online Access: | https://digital-library.theiet.org/content/journals/10.1049/iet-csr.2019.0014 |