Robust Trajectory Tracking Control for Underactuated Autonomous Underwater Vehicles in Uncertain Environments

This article addresses the tracking control problem of 3-D trajectories for underactuated underwater robotic vehicles operating in a constrained workspace including obstacles. More specifically, a robust nonlinear model predictive control (NMPC) scheme is presented for the case of underactuated auto...

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Veröffentlicht in:	IEEE transactions on automation science and engineering 2021-07, Vol.18 (3), p.1288-1301
Hauptverfasser:	Heshmati-Alamdari, Shahab, Nikou, Alexandros, Dimarogonas, Dimos V.
Format:	Artikel
Sprache:	eng
Schlagworte:	Autonomous underwater vehicles Autonomous vehicles Collision avoidance Collision dynamics Constraints Inspection Laser applications Marine navigation Nonlinear control Obstacle avoidance Ocean currents Ocean floor Oceans Predictive control Robot sensing systems Robotic vehicles Robotics Robust control Sensors Tracking control Traffic speed Trajectory Trajectory control Trajectory tracking Uncertain systems Uncertainty Underwater robots unmanned autonomous vehicles unmanned underwater vehicles Vehicle dynamics Vehicles Vision systems Workspace Yaw
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