Two Autonomous Underwater Vehicle Gliders have alternated continuous sampling of a 45-nautical mile transect line (the Newport Hydrographic Line) across the Oregon continental shelf since April, 2006. Strong currents (>25cm/s) push the gliders off their trajectories as they survey this transect line, preventing them from sampling the historically occupied stations...
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...