摘要
Dear Editor,This letter focuses on the trajectory tracking of 7000 m JIAOLONG manned submersible vehicle(MSV)with disturbances.The robust controller is realized by a composite control law,where an analytical nonlinear model predictive control(MPC)component is proposed to meet the requirements on tracking performance.
基金
supported by the National Natural Science Foundation of China(62273165)
the China Postdoctoral Science Foundation(2021M702505)
the 111 Project(B23008)。
