Trajectory Tracking of a Fully-Actuated Surface Vessel Using Nonlinear Model Predictive Control: Experimental Results
- The trajectory tracking problem for a real-scaled fully-actuated surface vessel is addressed in this paper. A nonlinear model predictive control (NMPC) scheme was designed to track a reference trajectory, considering state and input constraints, and environmental disturbances, which were assumed to be constant over the prediction horizon. The controller was tested by performing docking maneuvers using the real-scaled research vessel from the University of Applied Sciences Konstanz at the Rhine river in Germany. A comparison between the experimental results and the simulated ones was analyzed to validate the NMPC controller.
| Author: | Leticia Mayumi Kinjo, Stefan WirtensohnORCiD, Johannes ReuterORCiD, Tomas Menard, Olivier Gehan |
|---|---|
| DOI: | https://doi.org/10.1109/MED54222.2022.9837247 |
| ISBN: | 978-1-6654-0673-4 |
| ISSN: | 2473-3504 |
| Parent Title (English): | 30th Mediterranean Conference on Control and Automation (MED), 28 June - 1 July 2022, Vouliagmeni, Greece |
| Publisher: | IEEE |
| Place of publication: | New York, NY |
| Document Type: | Conference Proceeding |
| Language: | English |
| Year of Publication: | 2022 |
| Release Date: | 2023/01/10 |
| Tag: | Nonlinear control systems; Predictive control; Unmanned surface vehicles |
| First Page: | 693 |
| Last Page: | 698 |
| Institutes: | Institut für Systemdynamik - ISD |
| Relevance: | Keine peer reviewed Publikation (Wissenschaftlicher Artikel und Aufsatz, Proceeding, Artikel in Tagungsband) |
| Open Access?: | Nein |
| Licence (German): |  Urheberrechtlich geschützt |
