Linear Parameter-Varying Model Predictive Control of AUV for Docking Scenarios

Linear Parameter-Varying Model Predictive Control of AUV for Docking Scenarios

A control system for driving an Autonomous Underwater Vehicle (AUV) performing docking operations in presence of tidal current disturbances is proposed. The nonlinear model of the vehicle has been modelled in a Linear Parameter-Varying (LPV) form. This is suitable for the design of the control syste...

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Bibliographic Details
Main Authors: Hiroshi Uchihori, Luca Cavanini, Mitsuhiko Tasaki, Pawel Majecki, Yusuke Yashiro, Michael J. Grimble, Ikuo Yamamoto, Gerrit M. van der Molen, Akihiro Morinaga, Kazuki Eguchi
Format: Article
Language:English
Published: MDPI AG 2021-05-01
Series:Applied Sciences
Subjects:
Autonomous Underwater Vehicle
underwater docking
Model Predictive Control
Linear Parameter-Varying
Online Access:https://www.mdpi.com/2076-3417/11/10/4368

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