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Filtering by: Creator Davis, Curtiss Remove constraint Creator: Davis, Curtiss Committee Member Batten, Belinda A. Remove constraint Committee Member: Batten, Belinda A. Degree Level Master's Remove constraint Degree Level: Master's

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  • Model Predictive Control for Underwater Robots in Ocean Waves

    Creator:
    Fernández, Daniel C.
    Abstract:
    Underwater robots beneath ocean waves can benefit from feedforward control to reduce position error. This thesis proposes a method using Model Predictive Control (MPC) to predict and counteract future disturbances from an ocean wave field. The MPC state estimator employs a Linear Wave Theory (LWT) solver to approximate the component...
    Resource Type:
    Masters Thesis
    Full Text:
    vehicle was used along with a Didson sonar to reconstruct the S.S. Curtiss hull draft. . . . . . . . 17