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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.

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Metadaten
Author:Leticia Mayumi Kinjo, Stefan WirtensohnORCiD, Johannes ReuterORCiD, Tomas Menard, Olivier Gehan
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):License LogoCreative Commons - CC BY-NC-ND - Namensnennung - Nicht kommerziell - Keine Bearbeitungen 4.0 International