Trajectory Tracking of a Fully-actuated Surface Vessel using Nonlinear Model Predictive Control
- 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.
Author: | Leticia Mayumi Kinjo, Stefan WirtensohnORCiD, Johannes ReuterORCiD, Tomas Menard, Olivier Gehan |
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DOI: | https://doi.org/10.1016/j.ifacol.2021.10.072 |
Parent Title (English): | 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) |
Volume: | 54 |
Publisher: | Elsevier |
Document Type: | Conference Proceeding |
Language: | English |
Year of Publication: | 2021 |
Release Date: | 2022/01/17 |
Tag: | Fully-actuated autonomous surface vessels; Nonlinear model predictive control; Trajectory tracking; Parameter identification |
Issue: | 16 |
First Page: | 51 |
Last Page: | 56 |
Institutes: | Institut für Systemdynamik - ISD |
Open Access?: | Ja |
Relevance: | Keine peer reviewed Publikation (Wissenschaftlicher Artikel und Aufsatz, Proceeding, Artikel in Tagungsband) |
Licence (German): | Creative Commons - CC BY-NC-ND - Namensnennung - Nicht kommerziell - Keine Bearbeitungen 4.0 International |