Disturbance Preview for Non-Linear Model Predictive Trajectory Tracking of Underwater Vehicles in Wave Dominated Environments
Kyle L. Walker,Francesco Giorgio-Serchi,Kyle L. Walker,Francesco Giorgio-Serchi
Operating in the near-vicinity of marine energy devices poses significant challenges to the control of underwater vehicles, predominantly due to the presence of large magnitude wave disturbances causing hazardous state perturbations. Approaches to tackle this problem have varied, but one promising solution is to adopt predictive control methods. Given the predictable nature of ocean waves, the pot...
