@inproceedings{44109e6d70084354a10f19cc834b0c2c,
title = "Unilateral trajectory tracking control of autonomous underwater vehicles with system constraints",
abstract = "The paper studies the trajectory tracking control problem of autonomous underwater vehicles (AUV) with practical constraints via economic model predictive control (EMPC) strategy. The cost function in EMPC is designed with two parts. One part is the trajectory tracking cost and the other part is the economic cost which is utilized to keep the AUV tracking within one side of the trajectory. We term this type of trajectory tracking as the unilateral trajectory tracking, which can be applied for hazardous area tracking and obstacle avoidance of AUVs. The effectiveness of the proposed approach is verified via thorough simulation studies.",
keywords = "Autonomous underwater vehicle, Model predictive control, Trajectory tracking",
author = "Haojiao Liang and Huiping Li and Jian Gao and Deming Xu",
note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 1st IEEE International Conference on Industrial Cyber-Physical Systems, ICPS 2018 ; Conference date: 15-05-2018 Through 18-05-2018",
year = "2018",
month = jun,
day = "15",
doi = "10.1109/ICPHYS.2018.8387680",
language = "英语",
series = "Proceedings - 2018 IEEE Industrial Cyber-Physical Systems, ICPS 2018",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "330--335",
booktitle = "Proceedings - 2018 IEEE Industrial Cyber-Physical Systems, ICPS 2018",
}