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October 3, 2025Open Access

Adaptive Lyapunov-constrained MPC for fault-tolerant AUV trajectory tracking

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Authors

HLHaolin LiuSZShiliang ZhangXZXiaohui Zhang

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Overview

Model predictive control shows stable trajectory tracking in AUVs with thruster failures, indicating robustness.

Key Points

  • The proposed adaptive Lyapunov-constrained MPC ensures stable trajectory tracking during AUV status shifts.
  • Numerical simulations reveal low trajectory tracking errors under various thruster failure scenarios.
  • The model identifies faults using an online Bayesian approach, facilitating quick adaptations in control law.
  • Comparative results demonstrate improved performance over standard MPC and backstepping control methods.

Cite This Study

Liu et al. (2025) studied this question.

synapsesocial.com/papers/68e040f7a99c246f578b3d5bhttps://doi.org/10.48550/arxiv.2509.17237
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  4. 4State-Transform MPC-SMC-Based Trajectory Tracking Control of Cross-Rudder AUV Carrying Out Underwater Searching Tasks2024 · 10 citations
  5. 5Prescribed Performance Lyapunov‐Based Model Predictive Tracking Control for Autonomous Underwater Vehicles Subject to Disturbances: A Dynamically Weighted Approach2026