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In this paper, the trajectory tracking control problem with model predictive control approach is investigated for Unmanned Underwater Vehicle (UUV) control. Firstly, the kinematic tracking controller based on model predictive control (MPC) is applied to reach the tracking control in a kinematic way. Compared with conventional backstepping control, MPC can solve the speed jump control problem very...
Trajectory tracking of unmanned underwater vehicles (UUV) in two-dimension is researched by analyzing and establishing a two-dimension kinematic model of UUV. A new approach of trajectory tracking is posed, which is called model predictive control. Model predictive control is used based on linear description of the error model and it has to satisfy the control constraints. The optimization problem...
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