Titlebook: Advanced Model Predictive Control for Autonomous Marine Vehicles; Yang Shi,Chao Shen,Kunwu Zhang Book 2023 The Editor(s) (if applicable) a

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Advanced Model Predictive Control for Autonomous Marine Vehicles978-3-031-19354-5Series ISSN 1430-9491 Series E-ISSN 2193-1577

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Bioactive Lipids in Health and Diseaselyzes the forces and moments causing the motion. In this chapter, we firstly elaborate the kinematic and dynamic equations of AMV motion in 6-DOF, and based on which we establish the 3-DOF control system model adopted in the study of AMV motion control.

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Bioactive Lipids in Health and Diseaseto construct the contraction constraint in optimization problem that is associated with the LMPC. A quasi-global closed-loop stability property can be claimed for the closed-loop LMPC-based DP control system. Secondly, the LMPC is applied to solve the AUV trajectory tracking control problem. An auxi

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María Lamas Bervejillo,Ana María Ferreira the desired formation while tracking the reference trajectory, despite the presence of external disturbances. The DLMPC inherits the stability and robustness of the extended state observer (ESO)-based auxiliary control law and invokes online optimization to improve formation tracking performance of

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Bioactive Lipids in Health and Disease bounded external disturbances. The control input for each ASV is composed of two parts: The optimal nominal control input and the auxiliary control input. The optimal nominal control input is generated by solving a DMPC problem based on the state information of itself and its neighbors. The offline

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