A tube-based nonlinear MPC law is shown to make an underactuated AUV track a 3D trajectory while respecting input and obstacle constraints under bounded disturbances.
Marine cybernetics,
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Robust Trajectory Tracking Control for Underactuated Autonomous Underwater Vehicles
A tube-based nonlinear MPC law is shown to make an underactuated AUV track a 3D trajectory while respecting input and obstacle constraints under bounded disturbances.