{"entities":{"Q1793194":{"pageid":1803936,"ns":120,"title":"Item:Q1793194","lastrevid":70890921,"modified":"2026-04-13T17:57:58Z","type":"item","id":"Q1793194","labels":{"en":{"language":"en","value":"Efficient multivariable generalized predictive control for autonomous underwater vehicle in vertical plane"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 6953216"}},"aliases":{},"claims":{"P31":[{"mainsnak":{"snaktype":"value","property":"P31","hash":"fd5912e4dab4b881a8eb0eb27e7893fef55176ad","datavalue":{"value":{"entity-type":"item","numeric-id":56887,"id":"Q56887"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1793194$B021D3A7-1D07-4318-A9B2-05CBD28BB848","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"868af5b19f058151182641f917891aa464107658","datavalue":{"value":{"text":"Efficient multivariable generalized predictive control for autonomous underwater vehicle in vertical plane","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q1793194$5F34208D-7141-48B8-9E7A-4F87A709309A","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"3747da28d5be4dcbf2f0637c1ed72f68d5db8e64","datavalue":{"value":"1400.93216","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1793194$41069E70-EF8B-4F7B-B3E5-816B5A156DC2","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"e4d8a47b7ea1f880352ceb06b3139a51afe9dba8","datavalue":{"value":"10.1155/2016/4650380","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1793194$9349DD4C-C69C-4217-9EC7-4EBCF4F24039","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"d250c5b849947d43dc1b7cf0b7a9537c1164209b","datavalue":{"value":{"entity-type":"item","numeric-id":1793192,"id":"Q1793192"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1793194$F47BE3D1-CFB3-4F4E-B8B6-7CFE14CCD085","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"dbaf85dfa19d5b467df56343096eb6a725c24233","datavalue":{"value":{"entity-type":"item","numeric-id":1793193,"id":"Q1793193"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1793194$1F2D5C69-D1FD-434D-8593-C4E1A127601F","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"3dc97bc0aff607b9c22ce37ffa18b6de85001d90","datavalue":{"value":{"entity-type":"item","numeric-id":86199,"id":"Q86199"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1793194$BA6F596C-4B5B-4207-9145-5DE194202BA8","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"8ea484e5e450d8c28bd391c202097b7b63c8e2aa","datavalue":{"value":{"time":"+2018-10-12T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q1793194$92154F79-5911-47FB-8C9B-8E019E535F08","rank":"normal"}],"P1448":[{"mainsnak":{"snaktype":"value","property":"P1448","hash":"464858260a492cbb75d4781d44ef88e520bc853f","datavalue":{"value":"Summary: This paper presents the design and simulation validation of a multivariable GPC (generalized predictive control) for AUV (autonomous underwater vehicle) in vertical plane. This control approach has been designed in the case of AUV navigating with low speed near water surface, in order to restrain wave disturbance effectively and improve pitch and heave motion stability. The proposed controller guarantees compliance with rudder manipulation, AUV output constraints, and driving energy consumption. Performance index based on pitch stabilizing performance, energy consumption, and system constraints is used to derive the control action applied for each time step. In order to deal with constrained optimization problems, a Hildreth's QP procedure is adopted. Simulation results of AUV longitudinal control show better stabilizing performance and minimized energy consumption improved by multivariable GPC.","type":"string"},"datatype":"string"},"type":"statement","id":"Q1793194$B04EE26E-84F8-46AF-8DBB-16ECCF4044D3","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1793194$6EEC332A-0533-418F-8F4F-4C8B522FA7D1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"10e7ae4f3272e1b3be03ffc40fe137c122ddd99d","datavalue":{"value":"93B40","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1793194$DB6BF63F-3699-4A1A-9822-CBE9D7F16547","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"dd9a801a526fc4d8fad4b9db030b9cb0c67a3fce","datavalue":{"value":"93C40","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1793194$48936CF8-39D2-4BA8-AA57-48F7F6089315","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"b967990dd1b88a456d202347ee7f4e31637cbe73","datavalue":{"value":"6953216","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1793194$AAF1FDFD-4BE8-4C7B-9E65-C07B136D7D3F","rank":"normal"}],"P1460":[{"mainsnak":{"snaktype":"value","property":"P1460","hash":"57f7fea50d2ce1b39b695c4a1313582eed405e38","datavalue":{"value":{"entity-type":"item","numeric-id":5976449,"id":"Q5976449"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1793194$B5934062-9CDA-49D8-BF3A-CB3A54F531B4","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"0461c71ad394703b2dd14326dcf447bc13bb6a36","datavalue":{"value":"https://doi.org/10.1155/2016/4650380","type":"string"},"datatype":"url"},"type":"statement","id":"Q1793194$D560ED6A-0392-43E2-BFA5-20AD3E6E0987","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"6c78eb9736b9a23d406bcb3e48c5a6ded0eafa97","datavalue":{"value":"W2553466927","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1793194$36DD6E0F-A8A2-4B93-8AEB-4A51142EEED6","rank":"normal"}],"P12":[{"mainsnak":{"snaktype":"value","property":"P12","hash":"c20cc7e42556820654c535dffcdd474b483e64aa","datavalue":{"value":"Q59131363","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1793194$BD6EE6DE-F1AF-46CC-82BD-0D5B271C1043","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"1d5f594ed291d718a055ba7ff61e8e00ed898679","datavalue":{"value":{"entity-type":"item","numeric-id":4209222,"id":"Q4209222"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1793194$5918131A-9A9F-4842-805C-9D2F2E68EECC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"0dbfc1f81d01f28312167d945dfdb5a91bc4ee7d","datavalue":{"value":{"entity-type":"item","numeric-id":1356149,"id":"Q1356149"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1793194$F2973074-C5C1-44E6-A83C-6E737CDB687A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"b4d85477fd562f0993bbae9154a457f378086d40","datavalue":{"value":{"entity-type":"item","numeric-id":5405758,"id":"Q5405758"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1793194$5628DF2F-F29B-46FC-A6E5-E7BA8FA7DF61","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"900d7e2074f9019ca1b46a59f25cbc3df96f2136","datavalue":{"value":{"entity-type":"item","numeric-id":5288535,"id":"Q5288535"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1793194$47F9B1BC-9A80-4D24-AA7E-7C7145D16E40","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"8143b2384cffca15b36902a4de6dc50dda284c7d","datavalue":{"value":{"entity-type":"item","numeric-id":4159159,"id":"Q4159159"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1793194$C1BAABC1-4DE1-4AF8-BE46-D5EDAF3C6848","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"95e05874adaeb011a4cd5b67d5ea8904bc3c7223","datavalue":{"value":{"entity-type":"item","numeric-id":1090654,"id":"Q1090654"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1793194$587741C1-8D95-4A83-BDC2-AA7036A0959F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"75304ab703df38e48daf2683018d8802ba40eb89","datavalue":{"value":{"entity-type":"item","numeric-id":1001932,"id":"Q1001932"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1793194$A0F734A1-90E8-4656-B353-FAB927D05EA1","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"e9b87180a4f8428c200971f2cc86e1a563939340","datavalue":{"value":{"entity-type":"item","numeric-id":4546937,"id":"Q4546937"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"596e3611cb4ef5b191c9e0fd806db8d193f29d9f","datavalue":{"value":{"amount":"+0.8325368762016296","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1793194$09EC7B60-9038-4071-9006-28F68F4D9B2C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"db199f94a71ce4c5ca09abc4ab0a1ee1312326b5","datavalue":{"value":{"entity-type":"item","numeric-id":4546942,"id":"Q4546942"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"0a970b56c2716d3a38bafdbf543c305381703b9e","datavalue":{"value":{"amount":"+0.7788227796554565","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1793194$895D924A-36D6-4A5D-98B2-3DA030D40EF3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"86c2cdddbf3facba5b4ff252f6c9c28be146757a","datavalue":{"value":{"entity-type":"item","numeric-id":5745558,"id":"Q5745558"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"c817756116dd88cc98b93d2179b59a88b218a8ee","datavalue":{"value":{"amount":"+0.7738924622535706","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1793194$3A64E381-7A39-4FF8-8054-B4171162A476","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"f3def72c8061308d8b7997e52e0c3654bdca945a","datavalue":{"value":{"entity-type":"item","numeric-id":415895,"id":"Q415895"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"f70b58a2466bd2521910ce8215b726a4ca2a9f24","datavalue":{"value":{"amount":"+0.7722471952438354","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1793194$D88AA2C4-43F3-4CE9-BEB0-94D60E827169","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"02663cb85c04cc1545714fd09f8d3cc22732ca53","datavalue":{"value":{"entity-type":"item","numeric-id":2109157,"id":"Q2109157"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"92ff3290063abc23c7c3f05bac7f77108c309e62","datavalue":{"value":{"amount":"+0.7663459777832031","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1793194$B05D9751-4F14-4FE4-9A47-FFE54A1ECA37","rank":"normal"}],"P163":[{"mainsnak":{"snaktype":"value","property":"P163","hash":"45fcd4163b5f33e6e8c784f5522d7246c0a1a61e","datavalue":{"value":{"entity-type":"item","numeric-id":57056,"id":"Q57056"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1793194$A69C4325-BE72-49F4-98E3-0C1CD776BA09","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Efficient multivariable generalized predictive control for autonomous underwater vehicle in vertical plane","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Efficient_multivariable_generalized_predictive_control_for_autonomous_underwater_vehicle_in_vertical_plane"}}}}}