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dc.contributor.authorZhang, Guangjie-
dc.contributor.authorYan, Weisheng-
dc.contributor.authorGao, Jian-
dc.contributor.authorLiu, Changxin-
dc.identifier.issn0975-1033 (Online); 0379-5136 (Print)-
dc.description.abstractIn this paper, a disturbance observer-based model predictive control (DO-MPC) scheme is developed for cross tracking of underactuated autonomous underwater vehicles (AUVs) under sea current disturbances. A high-gain observer is used to estimate the current velocity, external sway force and yaw torque. Based on the disturbance estimates, a nonlinear model predictive controller is designed with consideration of actuator constraints. The control inputs are solved by optimizing the future trajectories of the nonlinear system under input constraints within a certain time horizon, which are predicted by the system model with estimated disturbances. The stability of the predictive control cross-tracking system is also proved with a Lyapunor-based method. The comparative simulation results with different algorithms are provided to validate the effectiveness of the proposed method.en_US
dc.publisherNISCAIR-CSIR, Indiaen_US
dc.rights CC Attribution-Noncommercial-No Derivative Works 2.5 Indiaen_US
dc.sourceIJMS Vol.46(12) [December 2017]en_US
dc.subjectAutonomous underwater vehicleen_US
dc.subjectHigh-gain observeren_US
dc.subjectModel predictive controlen_US
dc.subjectCross trackingen_US
dc.subjectCurrent disturbanceen_US
dc.titleHigh-gain observer-based model predictive control for cross tracking of underactuated autonomous Underwater Vehicles: A comparative studyen_US
Appears in Collections:IJMS Vol.46(12) [December 2017]

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