Model Predictive Control of Autonomous Underwater Vehicles Based on Horizon Optimization
2020 ◽
Vol 4
(1)
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Keyword(s):
Heading control of Autonomous Underwater Vehicle (AUV) using Model Predictive Control (MPC) gives a good performance. Varying the length of the horizon provides a variety of performance. This paper is made in order to find out how many optimal horizons are needed to obtain the highest efficiency of energy use in AUV. Test results show a positive correlation between the length of the horizon and the amount of energy used. The optimal horizon obtained is then tested on several different trajectories.
2019 ◽
Vol 9
(2)
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pp. 3805-3810
2019 ◽
Vol 234
(1)
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pp. 76-88
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2018 ◽
Vol 212
(1)
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pp. 105-123
2018 ◽
Vol 213
(2)
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pp. 53-67
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2021 ◽
Vol 2129
(1)
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pp. 012080
2020 ◽
pp. 095440622094362
2018 ◽
Vol 35
(4)
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pp. 797-808
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2019 ◽
Vol 16
(3)
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pp. 172988141985318