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It is an important and essential aspect for autonomous ground vehicles to follow the desired path. In this manuscript, a path tracking controller using model predictive control (MPC) method is proposed. In order to describe the vehicle motion and its dynamics, kinematics and dynamics integrated model is first presented. Then, the control strategy is proposed and MPC is employed to design the path...
In this paper, global asymptotic stabilization of an autonomous underactuated underwater vehicle (AUUV) is investigated, where the number of actuators of the AUUV is less than the vehicle's degrees of freedom. The model that is considered describes both the kinematics and dynamics of the AUUV with six degrees of freedom and four actuators. To cope with the underactuation characteristics of AUUV a...
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