Robust Model Predictive Control Based on Active Disturbance Rejection Control for a Robotic Autonomous Underwater Vehicle

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,...

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Bibliographic Details
Main Authors: Jaime Arcos-Legarda, Álvaro Gutiérrez
Format: Article
Language:English
Published: MDPI AG 2023-04-01
Series:Journal of Marine Science and Engineering
Subjects:
model predictive control
active disturbance rejection control
extended state observer
autonomous underwater vehicles
underwater robotics
Online Access:https://www.mdpi.com/2077-1312/11/5/929

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