Lyapunov-based model predictive control trajectory tracking for an autonomous underwater vehicle with external disturbances

Peng Gong; Zheping Yan; Wei Zhang; Jialing Tang

doi:10.1016/j.oceaneng.2021.109010

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Lyapunov-based model predictive control trajectory tracking for an autonomous underwater vehicle with external disturbances

Peng Gong Zheping Yan Wei Zhang Jialing Tang

Year: 2021 Journal: Ocean Engineering Vol: 232 Pages: 109010-109010 Publisher: Elsevier BV

DOI: 10.1016/j.oceaneng.2021.109010

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Keywords:

Control theory (sociology) Backstepping Trajectory Computer science Robustness (evolution) Lyapunov stability Lyapunov function Model predictive control Nonlinear system Control engineering Engineering Control (management) Adaptive control Artificial intelligence

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Advanced Control Systems Optimization

Physical Sciences → Engineering → Control and Systems Engineering

Adaptive Control of Nonlinear Systems

Physical Sciences → Engineering → Control and Systems Engineering

Control and Stability of Dynamical Systems

Physical Sciences → Engineering → Control and Systems Engineering

Lyapunov-based model predictive control trajectory tracking for an autonomous underwater vehicle with external disturbances

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