Model predictive stabilization of constrained underactuated autonomous underwater vehicles with guaranteed feasibility and stability

IEEE/ASME Transactions on Mechatronics

Volumn 22, Issue 3, 2017, Pages 1185-1194

  Li, Huiping ^a   Yan, Weisheng ^a  

^a NORTHWESTERN POLYTECHNICAL UNIVERSITY   (China)

Author keywords

Autonomous underwater vehicles (AUVs); constraints; model predictive control (MPC); stabilization; underactuated systems

Indexed keywords

CLOSED LOOP SYSTEMS; ITERATIVE METHODS; KINEMATICS; MODEL PREDICTIVE CONTROL; PREDICTIVE CONTROL SYSTEMS; STABILIZATION; TIME VARYING CONTROL SYSTEMS; VEHICLES;

AUTONOMOUS UNDERWATER VEHICLES (AUVS); CLOSED LOOP STABILITY; CONSTRAINTS; CONTROL INPUT CONSTRAINTS; HYDRODYNAMIC ADDED MASS; STABILIZATION PROBLEMS; TIME-VARYING CONTROL LAW; UNDER-ACTUATED SYSTEMS;

AUTONOMOUS UNDERWATER VEHICLES;

EID: 85026731040     PISSN: 10834435     EISSN: None     Source Type: Journal    
DOI: 10.1109/TMECH.2016.2587288     Document Type: Article

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