Input-Constrained Path Following for Autonomous Marine Vehicles with a Global Region of Attraction
| Autor: | Naveena Crasta, Francisco F. C. Rego, Nguyen T. Hung, Antonio M. Pascoal |
|---|---|
| Rok vydání: | 2018 |
| Předmět: |
Lyapunov function
0209 industrial biotechnology Computer science Control (management) 02 engineering and technology Kinematics Nonlinear control Model predictive control symbols.namesake 020901 industrial engineering & automation Control and Systems Engineering Control theory Robustness (computer science) Stability theory 0202 electrical engineering electronic engineering information engineering symbols 020201 artificial intelligence & image processing Constant (mathematics) |
| Zdroj: | IFAC-PapersOnLine. 51:348-353 |
| ISSN: | 2405-8963 |
| DOI: | 10.1016/j.ifacol.2018.09.499 |
| Popis: | This paper presents a solution to the problem of path following control for autonomous marine vehicles (AMVs) subject to input constraints and constant ocean current disturbances. We propose two nonlinear control strategies: the first is obtained by using a Lyapunov-based design method, while the second is developed by adopting a Model Predictive Control (MPC) framework. We show that, with the proposed control strategies, the path-following error is globally asymptotically stable (GAS). Simulations with a kinematic model of the vehicle support the theoretical results. Simulations with a realistic model of the Medusa class of AMVs show the robustness of the proposed control strategies. |
| Databáze: | OpenAIRE |
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