Disturbance Observer-Based Model Predictive Control for an Unmanned Underwater Vehicle

This work addresses the motion control problem for a 4-degree-of-freedom unmanned underwater vehicle (UUV) in the presence of nonlinear dynamics, parametric uncertainties, system constraints, and time-varying external disturbances. A disturbance observer-based control scheme is proposed, which is st...

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Bibliographic Details

Published in:	Journal of Marine Science and Engineering
Main Authors:	Yang Hu, Boyang Li, Bailun Jiang, Jixuan Han, Chih-Yung Wen
Format:	Article
Language:	English
Published:	MDPI AG 2024-01-01
Subjects:	disturbance observer model predictive control (MPC) dynamic positioning trajectory tracking unmanned underwater vehicle (UUV)
Online Access:	https://www.mdpi.com/2077-1312/12/1/94