Trajectory Tracking Control of an Autonomous Underwater Vehicle Using Lyapunov-Based Model Predictive Control.
Chao ShenYang ShiBrad BuckhamPublished in: IEEE Trans. Ind. Electron. (2018)
Keyphrases
- autonomous underwater vehicle
- model predictive control
- predictive control
- control scheme
- sliding mode
- control law
- control system
- closed loop
- stability analysis
- control strategy
- nonlinear systems
- variable structure
- control theory
- tracking error
- adaptive control
- control algorithm
- dynamic model
- robot manipulators
- controller design
- fuzzy controller
- optimal control
- neural model
- fuzzy logic
- real time
- evolutionary algorithm
- pid controller
- dynamical systems
- lyapunov function
- fuzzy control
- control method
- rough sets
- mpc algorithm