Nonlinear model predictive control-based guidance law for path following of unmanned surface vehicles
| Autor: | Bejarano, G., Manzano, J. M., Salvador, J. R., Limon, D. |
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| Rok vydání: | 2024 |
| Předmět: | |
| Zdroj: | Ocean Engineering (2022), 258, 111764 |
| Druh dokumentu: | Working Paper |
| DOI: | 10.1016/j.oceaneng.2022.111764 |
| Popis: | This work proposes a nonlinear model predictive control-based guidance strategy for unmanned surface vehicles, focused on path following. The application of this strategy, in addition to overcome drawbacks of previous line-of-sight-based guidance laws, intends to enable the application of predictive strategies also to the low-level control, responsible for tracking the references provided by the guidance strategy. The stability and robustness of the proposed strategy are theoretically discussed. Furthermore, given the non-negligible computational cost of such nonlinear predictive guidance strategy, a practical nonlinear model predictive control strategy is also applied in order to reduce the computational cost to a great extent. The effectiveness and advantages of both proposed strategies over other nonlinear guidance laws are illustrated through a complete set of simulations. Comment: 21 pages, 15 figures. Postprint of the final published work |
| Databáze: | arXiv |
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