Lightweight Modeling of Underwater Gliders and Nonlinear MPC Controller Design with Actuator Constraint

In response to the problems of high nonlinearity and dimensionality of existing underwater glider models, as well as difficulty in designing effective engineering controllers, the composition and working principle of the motion mechanism of underwater gliders were first studied. By neglecting second...

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Bibliographic Details

Published in:	水下无人系统学报
Main Authors:	Jieru WANG, Chong LI, Shengbo QI, Yuanyuan ZHAO
Format:	Article
Language:	Chinese
Published:	Science Press (China) 2024-02-01
Subjects:	underwater glider lightweight modeling predictive control of model
Online Access:	https://sxwrxtxb.xml-journal.net/cn/article/doi/10.11993/j.issn.2096-3920.2023-0042