Model Predictive Visual Servoing of Fully-Actuated Underwater Vehicles With a Sliding Mode Disturbance Observer

Model Predictive Visual Servoing of Fully-Actuated Underwater Vehicles With a Sliding Mode Disturbance Observer

This paper presents a sliding-mode observer-based model predictive control (SMO-MPC) strategy for image-based visual servoing (IBVS) of fully-actuated underwater vehicles subject to field of view and actuator constraints and model uncertainties. In the proposed SMO-MPC controller, the visual system...

Full description

Bibliographic Details
Main Authors: Jian Gao, Guangjie Zhang, Puguo Wu, Xinyuan Zhao, Tonghao Wang, Weisheng Yan
Format: Article
Language:English
Published: IEEE 2019-01-01
Series:IEEE Access
Subjects:
Underwater vehicles
image-based visual servo control
model predictive control
sliding mode disturbance observer
Online Access:https://ieeexplore.ieee.org/document/8649637/

Internet

https://ieeexplore.ieee.org/document/8649637/

Similar Items