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approved: Geoffrey A. Hollinger Underwater robots beneath ocean waves can benefit from feedforward control to reduce position error. This thesis proposes a method using Model Predictive Control (MPC) to predict and counteract future disturbances from an ocean wave field. The MPC state estimator employs a Linear Wave Theory (LWT) solver to approximate the component fluid dynamics under a wave field. Wave data from deployed ocean buoys is used to construct the simulated wave field. The MPC statedoi:10.1109/lra.2016.2531792 dblp:journals/ral/FernandezH17 fatcat:zg4ksypeljdxnflyzdsbw53faa