Optimal Control Model for an Autonomous Underwater Vehicle

The main goal with this thesis was to develop an optimal control model for anautonomous underwater vehicle (AUV) and evaluate whether reference trackingusing Model Predictive Control (MPC) based on a linear dynamics modeldescribing all six degrees of freedom (DOF) is a suitable method for waypointna...

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Bibliographic Details
Main Author: Holm, Gustav
Format: Others
Published: KTH, Skolan för elektroteknik och datavetenskap (EECS) 2020
Online Access:http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-278504