A self-triggered visual servoing model predictive control scheme for under-actuated underwater robotic vehicles

Keyphrases

• Under-actuated 100%
• Model Predictive Control Algorithm 100%
• Visual Servoing 100%
• Self-triggered 100%
• Underwater Robotic Vehicle 100%
• Nonlinear Model Predictive Control 66%
• Convergence Property 33%
• Closed-loop System 33%
• Control Sequence 33%
• Processing Time 33%
• Control Law 33%
• Control Design 33%
• Stability Properties 33%
• Vision System 33%
• Underwater Vehicle 33%
• Control Scheme 33%
• Energy Consumption 33%
• External Disturbances 33%
• Vision-based 33%
• Kinematic Constraints 33%
• Guaranteed Convergence 33%
• Control Loop 33%
• Test Tank 33%
• Guaranteed Stability 33%
• State Observation 33%
• Underactuation 33%
• Vehicle Kinematics 33%
• Camera Field of View 33%

Engineering

• Control Scheme 100%
• Underwater Robotics 100%
• Predictive Control Model 100%
• Nonlinear Model 66%
• Energy Engineering 33%
• Control Design 33%
• Convergence Property 33%
• Feedback Control System 33%
• Control Law 33%
• Open Loop 33%
• Actuation 33%
• Processing Time 33%
• External Disturbance 33%
• Control Loop 33%
• State Measurement 33%