A Model Predictive Control Approach to AUVs Motion Coordination

  • Fernando Lobo Pereira
  • J. Borges de Sousa
  • R. Gomes
  • P. Calado
Part of the Lecture Notes in Control and Information Sciences book series (LNCIS, volume 456)


The problem of coordinating the motion of autonomous underwater vehicles under constrained acoustic communications is formulated and investigated in the context of the model predictive control (MPC) framework. The impact of acoustic communications and perturbations on the motion performance and robustness is discussed. A reach set formulation of the MPC scheme is outlined.


Optimal Control Problem Model Predictive Control Autonomous Underwater Vehicle Acoustic Communication Packet Dropout 
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Copyright information

© Springer International Publishing Switzerland 2015

Authors and Affiliations

  • Fernando Lobo Pereira
    • 1
  • J. Borges de Sousa
    • 1
  • R. Gomes
    • 1
  • P. Calado
    • 1
  1. 1.Faculdade de EngenhariaUniversidade do PortoPortoPortugal

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