Model predictive control-based tracking controller for hybrid-driven underwater legged robot

DOI10.1049/CTH2.12604MaRDI QIDQ6875496zbMATH OpenFDO

Authors Guangjie Zhang, Weisheng Yan, Rongxin Cui, Feiyu Ma

Publication date 13 January 2026

Published in IET Control Theory \& Applications (Search for Journal in Brave)

Copyright license Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International

Full work available at URL https://doi.org/10.1049/CTH2.12604

zbMATH Keywords

predictive controltrackingunderwater vehicles

Mathematics Subject Classification ID

Model predictive control (93B45) Control/observation systems governed by functional relations other than differential equations (such as hybrid and switching systems) (93C30) Automated systems (robots, etc.) in control theory (93C85)

Cites work

• Efficient implementation of Gaussian process-based predictive control by quadratic programming
• Robust model predictive control with sliding mode for constrained non-linear systems
• Stochastic model predictive control for linear systems with unbounded additive uncertainties
• Trajectory tracking of multi-legged robot based on model predictive and sliding mode control

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