@inproceedings{2c323f09c59d4d02af888c246c204691,
title = "High-gain observer-based model predictive control for cross tracking of underactuated autonomous underwater vehicles",
abstract = "In this paper, a disturbance observer-based model predictive control system is developed for cross tracking of the underactuated autonomous underwater vehicle under uncertain current disturbances. A high-gain observer is used in the proposed controller to estimate the current velocity, external force and torque. Based on the disturbance estimates, a nonlinear model predictive controller is designed considering the input constraints. The control inputs are solved by optimizing the predicted trajectories of the system under input constraints within a certain time horizon. The simulation results are provided to verify the effectiveness of the proposed control algorithm.",
keywords = "High-gain observer, cross tracking, current disturbance, model predictive control",
author = "Guangjie Zhang and Weisheng Yan and Jian Gao and Changxin Liu",
note = "Publisher Copyright: {\textcopyright} 2016 IEEE.; 6th IEEE International Conference on Underwater System Technology: Theory and Applications, USYS 2016 ; Conference date: 13-12-2016 Through 14-12-2016",
year = "2017",
month = apr,
day = "6",
doi = "10.1109/USYS.2016.7893920",
language = "英语",
series = "USYS 2016 - 2016 IEEE 6th International Conference on Underwater System Technology: Theory and Applications",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "115--120",
booktitle = "USYS 2016 - 2016 IEEE 6th International Conference on Underwater System Technology",
}