Disturbance Observer-Based Model Predictive Control for an Unmanned Underwater Vehicle
This work addresses the motion control problem for a 4-degree-of-freedom unmanned underwater vehicle (UUV) in the presence of nonlinear dynamics, parametric uncertainties, system constraints, and time-varying external disturbances. A disturbance observer-based control scheme is proposed, which is st...
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| Autori principali: | , , , , |
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| Natura: | Artigo |
| Lingua: | Inglês |
| Pubblicazione: |
MDPI AG
2024-01-01
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| Serie: | Journal of Marine Science and Engineering |
| Soggetti: | |
| Accesso online: | https://www.mdpi.com/2077-1312/12/1/94 |
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