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Filtering by: Creator Özkan-Haller, H. Tuba Remove constraint Creator: Özkan-Haller, H. Tuba Committee Member Haller, Merrick C. Remove constraint Committee Member: Haller, Merrick C. Degree Name Master of Science (M.S.) Remove constraint Degree Name: Master of Science (M.S.) Subject Fluid dynamics Remove constraint Subject: Fluid dynamics

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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:
    water depth, but instead is simply proportional to the squared wave height term (H). The rate at which