The DOI matches its Crossref record; 18 of the 18 references it cites were found in a registry or an index.
Trajectory Tracking Control of an Autonomous Underwater Vehicle Using Lyapunov-Based Model Predictive Control
Abstract
This paper studies the trajectory tracking control problem of an autonomous underwater vehicle (AUV). We develop a novel Lyapunov-based model predictive control (LMPC) framework for the AUV to utilize computational resource (online optimization) to improve the trajectory tracking performance. Within the LMPC framework, the practical constraints, such as actuator saturation, can be explicitly considered. Also, the thrust allocation subproblem can be addressed simultaneously with the LMPC controller design. Taking advantage of a nonlinear backstepping tracking control law, we construct the contraction constraint in the formulated LMPC problem so that the closed-loop stability is theoretically guaranteed. Sufficient conditions that ensure the recursive feasibility, and hence the closed-loop stability, are provided analytically. A guaranteed region of attraction is explicitly characterized. In the meantime, the robustness of the tracking control can be improved by the receding horizon implementation that is adopted in the LMPC control algorithm. Simulation results on the Saab SeaEye Falcon model AUV demonstrate the significantly enhance trajectory tracking control performance via the proposed LMPC method.
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1 retracted
Wei, Y., Qiu, J., & Karimi, H. R. (2017) · IEEE Transactions on Circuits and Systems I: Regular Papers · doi:10.1109/tcsi.2016.2605685 · Cited by 324
RetractedConstrained model predictive control: Stability and optimality
Mayne, D. Q., Rawlings, J. B., Rao, C. V., & Scokaert, P. O. M. (2000) · Automatica · doi:10.1016/s0005-1098(99)00214-9 · Cited by 8,736
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Model predictive control: Recent developments and future promise
Mayne, D. Q. (2014) · Automatica · doi:10.1016/j.automatica.2014.10.128 · Cited by 1,975
Marine Control Systems Guidance, Navigation, and Control of Ships, Rigs and Underwater Vehicles
Fossen, T. I. (2002) · Cited by 1,540
(2013) · Dynamic Modelling and Predictive Control in Solid Oxide Fuel Cells: First Principle and Data‐Based Approaches · doi:10.1002/9781118501054.ch6 · Cited by 1,047
An Overview of Nonlinear Model Predictive Control Applications
Qin, S. J., & Badgwell, T. A. (2000) · Nonlinear Model Predictive Control · doi:10.1007/978-3-0348-8407-5_21 · Cited by 458
Advanced Control in Marine Mechatronic Systems: A Survey
Shi, Y., Shen, C., Fang, H., & Li, H. (2017) · IEEE/ASME Transactions on Mechatronics · doi:10.1109/tmech.2017.2660528 · Cited by 317
Self-citationShen, C., Shi, Y., & Buckham, B. J. (2016) · IEEE/ASME Transactions on Mechatronics · doi:10.1109/tmech.2016.2612689 · Cited by 275
Self-citationActive Steering Actuator Fault Detection for An Automatically-steered Electric Ground Vehicle
Zhang, H., & Wang, J. (2016) · IEEE Transactions on Vehicular Technology · doi:10.1109/tvt.2016.2604759 · Cited by 231
Cited by
Incremental Model Predictive Control Exploiting Time-Delay Estimation for a Robot Manipulator
Wang, Y., Leibold, M., Lee, J., Ye, W., Xie, J., & Buss, M. (2022) · IEEE Transactions on Control Systems Technology · doi:10.1109/tcst.2022.3142629 · Cited by 52
Metadata
- Authors
- Shen, C., Shi, Y., & Buckham, B.
- Venue
- IEEE Transactions on Industrial Electronics
- Published
- 2018-07
- Volume
- 65
- Issue
- 7
- Pages
- 5796-5805
- ISSN
- 0278-0046 (ISSN-L)
- 1557-9948
- OpenAlex
- W2774922731
- Cited by
- 624
- References
- 18
- FWCI
- 25.76
- Type
- journal article
- Language
- en
- Open access
- closed
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