Robust Model Predictive Control Based on Active Disturbance Rejection Control for a Robotic Autonomous Underwater Vehicle
This work aims to develop a robust model predictive control (MPC) based on the active disturbance rejection control (ADRC) approach by using a discrete extended disturbance observer (ESO). The proposed technique uses the ADRC approach to lump disturbances and uncertainties into a total disturbance,...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2023-04-01
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| Series: | Journal of Marine Science and Engineering |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2077-1312/11/5/929 |