Disturbance Preview for Nonlinear Model Predictive Trajectory Tracking of Underwater Vehicles in Wave Dominated Environments.
Kyle L. WalkerFrancesco Giorgio SerchiPublished in: CoRR (2023)
Keyphrases
- control law
- nonlinear models
- trajectory tracking
- underwater vehicles
- closed loop
- autonomous robots
- control system
- control algorithm
- adaptive control
- linear model
- control strategy
- visual servoing
- control scheme
- sliding mode
- optimal control
- iterative learning
- dynamic model
- bi directional
- control method
- variable structure
- linear models
- motion planning
- dynamical systems
- statistical models
- logistic regression
- dynamic environments
- control parameters
- physical constraints
- computer simulation
- dynamic programming
- decision process
- mathematical models
- mobile robot