An economic MPC scheme for AUVs is formulated with a finite-horizon energy cost plus a terminal energy-to-go approximation to improve endurance.
Nonlinear suboptimal control of fully coupled non-affine six-DOF autonomous underwater vehicle using the state-dependent riccati equation
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Energy Management for Autonomous Underwater Vehicles Using Economic Model Predictive Control
An economic MPC scheme for AUVs is formulated with a finite-horizon energy cost plus a terminal energy-to-go approximation to improve endurance.