Model Predictive Control of underwater floating-base manipulator systems in rough seas floating-base manipulator systems in rough seas

This project aims to exploit Model Predictive Control techniques supplemented with accurate, real-time wave data to perform precise compensation of the hydrodynamic disturbances over a short-range control temporal-horizon.

Based on this approach, the vehicle will be able to estimate wave perturbations and implement these in the control input over a short time frame.

This will enable to perform accurate station-keeping and enable improved manipulation accuracy even in moderately adverse weather.