Experimental Verification of a Depth Controller using Model Predictive Control with Constraints onboard a Thruster Actuated AUV

Steenson, Leo V.; Phillips, A.B.; Rogers, E.; Furlong, M.; Turnock, S.R. 2012 Experimental Verification of a Depth Controller using Model Predictive Control with Constraints onboard a Thruster Actuated AUV. In: IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles (NGCUV’2012), Porto.