Robust Model Predictive Control for Autonomous Underwater Vehicle – Manipulator System with Fuzzy Compensator
This paper proposes an improved Model Predictive Control (MPC) approach including a fuzzy compensator in order to track desired trajectories of autonomous Underwater Vehicle Manipulator Systems (UVMS). The tracking performance can be affected by robot dynamical model uncertainties and applied extern...
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| Format: | Article |
| Language: | English |
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Sciendo
2019-06-01
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| Series: | Polish Maritime Research |
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| Online Access: | https://doi.org/10.2478/pomr-2019-0030 |