Distributed Lyapunov-Based Model Predictive Formation Tracking Control for Autonomous Underwater Vehicles Subject to Disturbances - Wei, Henglai; Shen, Chao; Shi, Yang (IEEE transactions on systems, man, and cybernetics. Systems, 2021)
Keywords: Autonomous underwater vehicles; Autonomous underwater vehicles (AUVs); Collision avoidance; Control stability; Control systems design; Control theory; Controllers; Cost function; distributed Lyapunov-based model predictive controller (DLMPC); Disturbances; extended state observer (ESO); formation tracking; Liapunov functions; ocean current disturbance; Ocean currents; Oceans; Optimization; Potential fields; Predictive control; Predictive models; Robust control; Robustness; Stability analysis; State observers; Tracking control; Tracking problem; Trajectory