Abstract:
This paper proposes a nonlinear model predictive control-based guidance strategy for autonomous surface vehicles, focused on the path following approach to motion control...Show MoreMetadata
Abstract:
This paper proposes a nonlinear model predictive control-based guidance strategy for autonomous surface vehicles, focused on the path following approach to motion control. The application of this strategy, in addition to overcome the drawbacks of previous line-of-sight-based guidance laws, intends to enable the application of predictive strategies also to the low-level control, responsible for tracking the references provided by the guidance high-level strategy. The robust and stable features of the proposed strategy are discussed, while the effectiveness and the advantages over other nonlinear guidance laws are illustrated through a complete set of simulations.
Published in: 2021 60th IEEE Conference on Decision and Control (CDC)
Date of Conference: 14-17 December 2021
Date Added to IEEE Xplore: 01 February 2022
ISBN Information: