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• Robust Model Predictive Control for Autonomous Underwater Vehicle – Manipulator System with Fuzzy Compensator

  Publikacja

  • H. Nejatbakhsh Esfahani

  - Polish Maritime Research - Rok 2019

  This paper proposes an improved Model Predictive Control (MPC) approach including a fuzzy compensator in order to track desired trajectories of autonomous Underwater Vehicle Manipulator Systems (UVMS). The tracking performance can be affected by robot dynamical model uncertainties and applied external disturbances. Nevertheless, the MPC as a known proficient nonlinear control approach should be improved by the uncertainty estimator...

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• Robust Model Predictive Control for Autonomous Underwater Vehicle–Manipulator System with Fuzzy Compensator

  Publikacja

  • H. Nejatbakhsh Esfahani

  - Polish Maritime Research - Rok 2019

  This paper proposes an improved Model Predictive Control (MPC) approach including a fuzzy compensator in order totrack desired trajectories of autonomous Underwater Vehicle Manipulator Systems (UVMS). The tracking performancecan be affected by robot dynamical model uncertainties and applied external disturbances. Nevertheless, the MPCas a known proficient nonlinear control approach should be improved by the...