Formation Tracking Control of AUVs Subject to Disturbances via Distributed Adaptive Sliding Model Predictive Control - Wang, Zhaoyang; Diao, Weiqing; Li, Weihao; Xu, Bo (IEEE transactions on vehicular technology, 2025)
Keywords: Adaptation models; Adaptive sliding model; autonomous underwater vehicle; Autonomous underwater vehicles; Control theory; Controllers; Convergence; distributed model predictive control; Disturbances; extended state observer; Force; formation tracking control; Liapunov functions; Marine environment; Numerical stability; Optimization techniques; Predictive control; Predictive models; Robust control; Robustness; Sliding mode control; Stability; State observers; Topology; Tracking control; Uncertainty; Vectors; Vehicle dynamics