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Model Predictive Control for Autonomous Underwater Vehicle

Agus Budiyono

Abstract


The paper presents a new approach to the control of an autonomous underwater vehicle (AUV Squid) by using model predictive. The method is considered suitable for underwater vehicles characterized by sluggish dynamics and operation environment with unstructured uncertainty. In addition, the ability of the method to handle constraints inherent in the control inputs of AUV is appropriately exploited. Overall effectiveness of the method is evaluated for the improvement of the existing PID controller based on direct tuning.

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References


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DOI: http://dx.doi.org/10.21535%2FProICIUS.2010.v6.498

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