An Efficient Underwater Navigation Method Using MPC with Unknown Kinematics and Non-Linear Disturbances

An Efficient Underwater Navigation Method Using MPC with Unknown Kinematics and Non-Linear Disturbances

Many Autonomous Underwater Vehicles (AUVs) need to cope with hazardous underwater medium using a limited computational capacity while facing unknown kinematics and disturbances. However, most algorithms proposed for navigation in such conditions fail to fulfil all conditions at the same time. In thi...

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Bibliographic Details
Main Authors:	Pablo Barreno, Juan Parras, Santiago Zazo
Format:	Article
Language:	English
Published:	MDPI AG 2023-03-01
Series:	Journal of Marine Science and Engineering
Subjects:	optimal control model predictive control least squares AUV disturbances
Online Access:	https://www.mdpi.com/2077-1312/11/4/710

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