@article{Li2025, 
author = {Jitao Li and Wenhan Zhang and Bing Guo and Feng Yao and Mingjun Zhang and Xiangyu Shao},
title = {Dynamic Positioning for Autonomous Underwater Vehicles: A Tube Model Predictive Control Approach},
year = {2025},
journal = {Unmanned Systems},
volume = {13},
number = {6},
pages = {1573-1583},
keywords = {linear programming, autonomous underwater vehicle, Dynamic positioning, tube model predictive control},
url = {https://www.sciopen.com/article/10.1142/S2301385025420014},
doi = {10.1142/S2301385025420014},
abstract = {This paper proposes a novel tube model predictive control approach for dynamic positioning of autonomous underwater vehicles with state and input constraints. The cost function is selected as a mixture of weighted 1-norms and ∞-norms of states and inputs, which can be reconstructed into linear summation form. Specially, a method is presented to calculate the weighted matrix of the terminal cost so that closed-loop stability is achieved. The proposed control problem can be solved by linear programming, which provides high computational efficiency. Experimental results on “UVIC-I” AUV are conducted to validate the viability and validity of the presented method.}
}