Three-Dimensional Path Tracking of Over-Actuated AUVs Based on MPC and Variable Universe S-Plane Algorithms

Autonomous Underwater Vehicles (AUVs) are widely used for the inspection of seabed pipelines. To address the issues of low trajectory tracking accuracy in AUV inspection processes due to uncertain ocean current disturbances, this paper designs a new dual-loop controller based on Model Predictive Con...

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Bibliographic Details

Published in:	Journal of Marine Science and Engineering
Main Authors:	Feng Xu, Lei Zhang, Jibin Zhong
Format:	Article
Language:	English
Published:	MDPI AG 2024-02-01
Subjects:	model predictive control variable universe S-plane three-dimensional trajectory tracking over-actuated AUV
Online Access:	https://www.mdpi.com/2077-1312/12/3/418