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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.

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Author:Leticia Mayumi Kinjo, Stefan WirtensohnORCiD, Johannes ReuterORCiD, Tomas Menard, Olivier Gehan
Parent Title (English):30th Mediterranean Conference on Control and Automation (MED), 28 June - 1 July 2022, Vouliagmeni, Greece
Place of publication:New York, NY
Document Type:Conference Proceeding
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):License LogoUrheberrechtlich geschützt