{"id":"https://openalex.org/W2892042382","doi":"https://doi.org/10.1109/cdc.2018.8619844","title":"Real-Time Model Predictive Control for Energy Management in Autonomous Underwater Vehicle","display_name":"Real-Time Model Predictive Control for Energy Management in Autonomous Underwater Vehicle","publication_year":2018,"publication_date":"2018-12-01","ids":{"openalex":"https://openalex.org/W2892042382","doi":"https://doi.org/10.1109/cdc.2018.8619844","mag":"2892042382"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2018.8619844","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2018.8619844","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5000080860","display_name":"Niankai Yang","orcid":"https://orcid.org/0000-0002-7821-192X"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Niankai Yang","raw_affiliation_strings":["Department of Naval Architecture and Marine Engineering, University of Michigan, Ann Arbor, MI, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Naval Architecture and Marine Engineering, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100669284","display_name":"Mohammad Reza Amini","orcid":"https://orcid.org/0000-0002-1771-7134"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mohammad Reza Amini","raw_affiliation_strings":["Department of Naval Architecture and Marine Engineering, University of Michigan, Ann Arbor, MI, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Naval Architecture and Marine Engineering, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089990642","display_name":"Matthew Johnson\u2010Roberson","orcid":"https://orcid.org/0000-0002-0506-907X"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Matthew Johnson-Roberson","raw_affiliation_strings":["Department of Naval Architecture and Marine Engineering, University of Michigan, Ann Arbor, MI, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Naval Architecture and Marine Engineering, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009899010","display_name":"Jing Sun","orcid":"https://orcid.org/0000-0002-1223-8986"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jing Sun","raw_affiliation_strings":["Department of Naval Architecture and Marine Engineering, University of Michigan, Ann Arbor, MI, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Naval Architecture and Marine Engineering, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I27837315"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":20,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"4321","last_page":"4326"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9988999962806702,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9988999962806702,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12719","display_name":"Aerospace Engineering and Energy Systems","score":0.9937999844551086,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9829000234603882,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.7658716440200806},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.6260330677032471},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5875971913337708},{"id":"https://openalex.org/keywords/energy-minimization","display_name":"Energy minimization","score":0.5641639232635498},{"id":"https://openalex.org/keywords/energy-management","display_name":"Energy management","score":0.539821982383728},{"id":"https://openalex.org/keywords/energy-consumption","display_name":"Energy consumption","score":0.5248292088508606},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.512048065662384},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.5073248744010925},{"id":"https://openalex.org/keywords/minification","display_name":"Minification","score":0.46810388565063477},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.449735552072525},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.4129936397075653},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4009811580181122},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.39413607120513916},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.33089569211006165},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.32334235310554504},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.22635313868522644},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.20601847767829895},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10427260398864746},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.07833024859428406}],"concepts":[{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.7658716440200806},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.6260330677032471},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5875971913337708},{"id":"https://openalex.org/C14961307","wikidata":"https://www.wikidata.org/wiki/Q5377176","display_name":"Energy minimization","level":2,"score":0.5641639232635498},{"id":"https://openalex.org/C7817414","wikidata":"https://www.wikidata.org/wiki/Q1779504","display_name":"Energy management","level":3,"score":0.539821982383728},{"id":"https://openalex.org/C2780165032","wikidata":"https://www.wikidata.org/wiki/Q16869822","display_name":"Energy consumption","level":2,"score":0.5248292088508606},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.512048065662384},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.5073248744010925},{"id":"https://openalex.org/C147764199","wikidata":"https://www.wikidata.org/wiki/Q6865248","display_name":"Minification","level":2,"score":0.46810388565063477},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.449735552072525},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.4129936397075653},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4009811580181122},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.39413607120513916},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.33089569211006165},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32334235310554504},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.22635313868522644},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.20601847767829895},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10427260398864746},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.07833024859428406},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C147597530","wikidata":"https://www.wikidata.org/wiki/Q369472","display_name":"Computational chemistry","level":1,"score":0.0},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc.2018.8619844","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2018.8619844","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE Conference on Decision and Control (CDC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.9100000262260437,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W1544853044","https://openalex.org/W1872768694","https://openalex.org/W1974213377","https://openalex.org/W1989722241","https://openalex.org/W2001981441","https://openalex.org/W2050204013","https://openalex.org/W2109797476","https://openalex.org/W2296153961","https://openalex.org/W2341171179","https://openalex.org/W2606474581","https://openalex.org/W2908944049","https://openalex.org/W4213417169"],"related_works":["https://openalex.org/W1518796764","https://openalex.org/W347294048","https://openalex.org/W2118841422","https://openalex.org/W128654086","https://openalex.org/W2226908759","https://openalex.org/W2061881449","https://openalex.org/W1483822002","https://openalex.org/W1899667806","https://openalex.org/W2003264037","https://openalex.org/W2351116219"],"abstract_inverted_index":{"Improving":[0],"endurance":[1],"is":[2,30,67,84,115,137,151],"crucial":[3],"for":[4,49,94,127],"extending":[5],"the":[6,18,22,34,60,88,91,96,129,132,141,148],"spatial":[7],"and":[8,21,99,121,134],"temporal":[9],"operation":[10,35],"range":[11,36],"of":[12,37,54,64],"autonomous":[13],"underwater":[14],"vehicles":[15],"(AUVs).":[16],"Considering":[17],"hardware":[19],"constraints":[20],"performance":[23],"requirements,":[24],"an":[25,55,65,107],"intelligent":[26],"energy":[27,61,81,156],"management":[28,62],"system":[29,122],"required":[31,93],"to":[32,117,139,153],"extend":[33],"AUVs.":[38],"This":[39],"paper":[40],"presents":[41],"a":[42,70,79,110],"novel":[43],"model":[44],"predictive":[45],"control":[46,53],"(MPC)":[47],"framework":[48],"energy-optimal":[50],"point-to-point":[51],"motion":[52,72],"AUV.":[56],"In":[57],"this":[58],"scheme,":[59],"problem":[63,74,83],"AUV":[66],"reformulated":[68],"as":[69],"surge":[71,100],"optimization":[73],"in":[75,103],"two":[76],"stages.":[77],"First,":[78],"system-level":[80],"minimization":[82],"solved":[85],"by":[86],"managing":[87],"trade-off":[89],"between":[90,131],"energies":[92],"overcoming":[95],"positive":[97],"buoyancy":[98],"drag":[101],"force":[102],"static":[104,133],"optimization.":[105],"Next,":[106],"MPC":[108],"with":[109,119,158],"special":[111],"cost":[112],"function":[113],"formulation":[114],"proposed":[116,149],"deal":[118],"transients":[120],"dynamics.":[123],"A":[124],"switching":[125],"logic":[126],"handling":[128],"transition":[130],"dynamic":[135],"stages":[136],"incorporated":[138],"reduce":[140],"computational":[142,161],"efforts.":[143],"Simulation":[144],"results":[145],"show":[146],"that":[147],"method":[150],"able":[152],"achieve":[154],"near-optimal":[155],"consumption":[157],"considerable":[159],"lower":[160],"complexity.":[162]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":3}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}