Eng Wei Goh

Reservoir Computing-Enhanced Tube-MPC: Real-Time Self-Healing Control for Robust AUV Path Following Under Dynamic Faults

This paper presents a novel control framework that integrates reservoir computing (RC) with Tube model predictive control (Tube-MPC) for robust path following in quadrotor autonomous underwater vehicles (QAUVs) under sudden fault conditions. The proposed RC-Tube-MPC leverages the dynamic modeling ca