This article addresses the tracking control problem of 3-D trajectories for underactuated
underwater robotic vehicles operating in a constrained workspace including obstacles. More …

Autonomous Underwater Vehicles (AUVs) have wide range of applications in fields like
marine geoscience, military, commercial and policy sectors. Their need and applications …

This article presents a robust nonlinear model predictive control (NMPC) scheme for
autonomous navigation of underwater robotic vehicles operating in a constrained …

Underwater Gliders (UGs) are a type of Autonomous Underwater Vehicle (AUV) that uses
buoyancy engines, an energy efficient locomotion, primarily for oceanography. In this paper …

Abstract A PI-D based control system is developed for over-actuated, hover-capable AUVs
which enables a smooth transition from hover-style to flight-style operation with system …

A sliding mode heading control system is developed for overactuated, hover‐capable
autonomous underwater vehicles (AUVs) operating over a range of forward speeds. A …

This paper presents an experimental analysis of a nonlinear model predictive controller
combined with an integral sliding mode control component and an explicit dead-time …

A line-of-sight (LOS) guidance law with an explicit model predictive control (MPC) is
proposed for an underactuated autonomous underwater vehicle (AUV). The derived LOS …

This article addresses a problem of seabed terrain following control (STFC) for an
underwater vehicle-manipulator system (UVMS). The motivation is to perform a visual …

Hydrobatic autonomous underwater vehicles (AUVs) can be efficient in range and speed, as
well as agile in maneuvering. They can be beneficial in scenarios such as obstacle …