Advanced Model Predictive Control for Autonomous Marine Vehicles

1. Introduction.- 2. AUV Modelling.- 3. Receding Horizon Optimization for Integrated Path Planning and Tracking Control of an AUV.- 4. Lyapunov-Based Model Predictive Control for Dynamic Positioning and Trajectory Tracking Control of an AUV.- 5. Multi-Objective Model Predictive Control for Path Following Control of an AUV.- 6. Efficient Implementation Algorithms for NMPC Trajectory Tracking Control of an AUV.- 7. Distributed Lyapunov-based Model Predictive Formation Tracking Control for AUVs Subject to Disturbances.- 8. Conclusions and Future Work.

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• Cibernética e teoria dos sistemas
• Inteligência artificial
• Robótica
• Engenharia do offshore

Model Predictive Control;Autonomous Underwater Vehicles;Planning and Control;Distributed Control;Multi-Objective Model Predictive Control;Constrained Optimization;Fast Implementation Algorithms;Control of Underwater Vehicles;Modelling Autonomous Underwater Vehicles