TY  - CHAP
U1  - Konferenzveröffentlichung
A1  - Kinjo, Leticia Mayumi
A1  - Wirtensohn, Stefan
A1  - Reuter, Johannes
A1  - Menard, Tomas
A1  - Gehan, Olivier
T1  - Trajectory Tracking of a Fully-actuated Surface Vessel using Nonlinear Model Predictive Control
T2  - 13th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicles (CAMS 2021), 22–24 September 2021, Oldenburg, Germany, (IFAC-PapersOnLine, Volume 54, Issue 16)
N2  - The trajectory tracking problem for a fully-actuated real-scaled surface vessel is addressed in this paper. The unknown hydrodynamic and propulsion parameters of the vessel’s dynamic model were identified using an experimental maneuver-based identification process. Then, a nonlinear model predictive control (NMPC) scheme is designed and the controller’s performance is assessed through the variation of NMPC parameters and constraints tightening for tracking a curved trajectory.
KW  - Fully-actuated autonomous surface vessels
KW  - Nonlinear model predictive control
KW  - Trajectory tracking
KW  - Parameter identification
Y1  - 2021
U6  - https://doi.org/10.1016/j.ifacol.2021.10.072
DO  - https://doi.org/10.1016/j.ifacol.2021.10.072
VL  - 54
IS  - 16
SP  - 51
EP  - 56
PB  - Elsevier
ER  -