{"id":"https://openalex.org/W4210276244","doi":"https://doi.org/10.1109/tcst.2022.3143366","title":"Energy-Optimal Control for Autonomous Underwater Vehicles Using Economic Model Predictive Control","display_name":"Energy-Optimal Control for Autonomous Underwater Vehicles Using Economic Model Predictive Control","publication_year":2022,"publication_date":"2022-02-01","ids":{"openalex":"https://openalex.org/W4210276244","doi":"https://doi.org/10.1109/tcst.2022.3143366"},"language":"en","primary_location":{"id":"doi:10.1109/tcst.2022.3143366","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2022.3143366","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Control Systems Technology","raw_type":"journal-article"},"type":"article","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":"https://orcid.org/0000-0002-7821-192X","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/A5088480783","display_name":"Dongsik Chang","orcid":"https://orcid.org/0000-0002-0304-4661"},"institutions":[{"id":"https://openalex.org/I131249849","display_name":"Oregon State University","ror":"https://ror.org/00ysfqy60","country_code":"US","type":"education","lineage":["https://openalex.org/I131249849"]},{"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":"Dongsik Chang","raw_affiliation_strings":["Department of Naval Architecture and Marine Engineering, University of Michigan, Ann Arbor, MI, USA","Collaborative Robotics and Intelligent Systems Institute, Oregon State University, Corvallis, OR, USA"],"raw_orcid":"https://orcid.org/0000-0002-0304-4661","affiliations":[{"raw_affiliation_string":"Department of Naval Architecture and Marine Engineering, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"Collaborative Robotics and Intelligent Systems Institute, Oregon State University, Corvallis, OR, USA","institution_ids":["https://openalex.org/I131249849"]}]},{"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"]},{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"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","Robotics Institute, School of Computer Science, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":"https://orcid.org/0000-0002-0506-907X","affiliations":[{"raw_affiliation_string":"Department of Naval Architecture and Marine Engineering, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"Robotics Institute, School of Computer Science, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"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":"https://orcid.org/0000-0002-1223-8986","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":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":6.5345,"has_fulltext":false,"cited_by_count":60,"citation_normalized_percentile":{"value":0.98016869,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"30","issue":"6","first_page":"2377","last_page":"2390"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9995999932289124,"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":0.9995999932289124,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9891999959945679,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12719","display_name":"Aerospace Engineering and Energy Systems","score":0.9872000217437744,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/waypoint","display_name":"Waypoint","score":0.932958722114563},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.7226095795631409},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.675229012966156},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6081291437149048},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.48719853162765503},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48223790526390076},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.4619036316871643},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.45636317133903503},{"id":"https://openalex.org/keywords/energy-minimization","display_name":"Energy minimization","score":0.44078752398490906},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3961094617843628},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.38078323006629944},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.2072327435016632},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.17476016283035278},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.16845858097076416},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09510114789009094}],"concepts":[{"id":"https://openalex.org/C2781271823","wikidata":"https://www.wikidata.org/wiki/Q138081","display_name":"Waypoint","level":2,"score":0.932958722114563},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.7226095795631409},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.675229012966156},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6081291437149048},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.48719853162765503},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48223790526390076},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.4619036316871643},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.45636317133903503},{"id":"https://openalex.org/C14961307","wikidata":"https://www.wikidata.org/wiki/Q5377176","display_name":"Energy minimization","level":2,"score":0.44078752398490906},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3961094617843628},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.38078323006629944},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.2072327435016632},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.17476016283035278},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.16845858097076416},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09510114789009094},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","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/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tcst.2022.3143366","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2022.3143366","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Control Systems Technology","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.699999988079071,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W1973856197","https://openalex.org/W1997950533","https://openalex.org/W2043437910","https://openalex.org/W2045823581","https://openalex.org/W2069581154","https://openalex.org/W2070150541","https://openalex.org/W2073328162","https://openalex.org/W2100600017","https://openalex.org/W2102884619","https://openalex.org/W2112724282","https://openalex.org/W2118542389","https://openalex.org/W2124058244","https://openalex.org/W2136593780","https://openalex.org/W2171917772","https://openalex.org/W2267281579","https://openalex.org/W2276370583","https://openalex.org/W2296153961","https://openalex.org/W2332283998","https://openalex.org/W2480475164","https://openalex.org/W2521613767","https://openalex.org/W2531140082","https://openalex.org/W2761762189","https://openalex.org/W2802785243","https://openalex.org/W2892042382","https://openalex.org/W2908944049","https://openalex.org/W2950610101","https://openalex.org/W2968312042","https://openalex.org/W2978951642","https://openalex.org/W3045835478","https://openalex.org/W3047221759","https://openalex.org/W3083508041","https://openalex.org/W3101941357","https://openalex.org/W3131678030","https://openalex.org/W4245455265","https://openalex.org/W6603223803"],"related_works":["https://openalex.org/W2507513082","https://openalex.org/W2031895052","https://openalex.org/W2951792637","https://openalex.org/W2289255502","https://openalex.org/W3193422435","https://openalex.org/W2947930695","https://openalex.org/W2989775562","https://openalex.org/W3173190774","https://openalex.org/W2959841230","https://openalex.org/W1997704083"],"abstract_inverted_index":{"Improving":[0],"endurance":[1],"is":[2,211],"important":[3],"for":[4,116,168,205],"autonomous":[5],"underwater":[6],"vehicles":[7],"(AUVs)":[8],"as":[9,220],"it":[10,88,210],"affects":[11],"the":[12,19,35,52,57,65,67,72,76,79,84,90,97,101,117,125,134,137,141,144,152,157,162,189,214,224],"operational":[13,98],"cost":[14,63],"and":[15,60,92,148,172,194,222],"application":[16],"range":[17],"of":[18,38,78,100,151,177],"vehicle.":[20],"In":[21],"this":[22],"article,":[23],"we":[24,86,123],"propose":[25],"an":[26],"economic":[27],"model":[28],"predictive":[29],"control":[30,36,53],"(EMPC)-based":[31],"controller":[32,47,159],"to":[33,70,127,140,187],"reduce":[34],"energy":[37,54,68,165,206],"AUVs":[39],"while":[40],"performing":[41],"waypoint":[42,74],"tracking.":[43],"The":[44],"proposed":[45,158,190,215],"EMPC":[46],"optimizes":[48,201],"stage":[49],"costs":[50],"capturing":[51],"consumed":[55],"within":[56],"prediction":[58,80],"horizon":[59],"a":[61,128,195],"terminal":[62],"approximating":[64],"energy-to-go,":[66,85],"required":[69],"reach":[71],"desired":[73,145],"from":[75,106],"end":[77],"horizon.":[81],"To":[82,114],"approximate":[83],"partition":[87],"into":[89],"dynamic":[91],"static":[93],"segments":[94],"based":[95],"on":[96],"characteristics":[99],"optimal":[102],"vehicle":[103,138,169,178,202],"maneuver":[104],"obtained":[105],"off-line":[107],"trajectory":[108],"optimization":[109],"using":[110],"direct":[111],"collocation":[112],"(DC).":[113],"account":[115],"disturbances":[118],"caused":[119],"by":[120],"ocean":[121],"currents,":[122],"adopt":[124],"energy-to-go":[126,154],"virtual":[129],"Earth-fixed":[130],"frame":[131],"that":[132,156,200,213],"transforms":[133],"drift":[135,142],"in":[136,143,175],"location":[139],"waypoint.":[146],"Theoretical":[147],"numerical":[149],"analyses":[150],"approximated":[153],"reveal":[155],"can":[160],"balance":[161],"tradeoffs":[163],"among":[164],"components":[166],"spent":[167],"surge,":[170],"heave,":[171],"yaw":[173],"controls":[174],"consideration":[176],"dynamics.":[179],"Simulations":[180],"under":[181],"different":[182],"flow":[183],"conditions":[184],"are":[185],"conducted":[186],"compare":[188],"approach":[191,199,216],"with":[192],"DC":[193,221],"line-of-sight":[196],"(LOS)":[197],"guidance-based":[198],"surge":[203],"speed":[204],"minimization.":[207],"Through":[208],"simulations,":[209],"shown":[212],"achieves":[217],"near-optimal":[218],"performance":[219],"outperforms":[223],"LOS-based":[225],"approach.":[226]},"counts_by_year":[{"year":2026,"cited_by_count":6},{"year":2025,"cited_by_count":25},{"year":2024,"cited_by_count":16},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":5}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}