Data-driven Stochastic Nonlinear Model Predictive Control for 6 DOF Underwater Vehicle under Unknown Disturbance and Uncertainty

Dong-Hwi Kim,Moon Hwan Kim, Jun Kim,Hyung-Min Baek,Young-Myung Choi, Sung-chul Shin, Minwoo Kim,Yagin Kim,Eun Soo Kim, Seung Hwan Lee

OCEAN ENGINEERING（2025）

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Model predictive control,Sparse Gaussian process,Stability,Online learning-based control,Generic submarine,Path following simulation

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