基于模型预测控制的水下机器人轨迹跟踪
梅满, 朱大奇, 甘文洋, 蒋骁迪
The Tracking Control of Unmanned Underwater Vehicles Based on Model Predictive Control 
MEI Man, ZHU Da-qi, GAN Wen-yang, JIANG Xiao-di
控制工程 . 2019, (10): 1917 -1924 .