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Trajectory tracking nonlinear model predictive control for autonomous surface craft
Guerreiro B.J.2; Silvestre C.1,2; Cunha R.2; Pascoal A.2
2014
Source PublicationIEEE Transactions on Control Systems Technology
ISSN10636536
Volume22Issue:6Pages:2160-2175
Abstract

This paper presents a solution to the problem of trajectory tracking control for autonomous surface craft (ASC) in the presence of ocean currents. The proposed solution is rooted in nonlinear model predictive control (NMPC) techniques and addresses explicitly state and input constraints. Whereas state saturation constraints are added to the underlying optimization cost functional as penalties, input saturation constraints are made intrinsic to the nonlinear model used in the optimization problem, thus reducing the computational burden of the resulting NMPC algorithm. Simulation results, obtained with a nonlinear dynamic model of a prototype ASC, show that the NMPC strategy adopted yields good performance in the presence of constant currents. Experimental results are also provided to validate the real-time implementation of the NMPC techniques for ASCs.

KeywordMarine Vehicles Predictive Control Trajectory Tracking.
DOI10.1109/TCST.2014.2303805
URLView the original
Indexed BySCI
Language英语
WOS Research AreaAutomation & Control Systems ; Engineering
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic
WOS IDWOS:000345576300008
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Cited Times [WOS]:24   [WOS Record]     [Related Records in WOS]
Document TypeJournal article
CollectionDEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING
Affiliation1.Universidade de Macau
2.Instituto de Sistemas e Robótica
Recommended Citation
GB/T 7714
Guerreiro B.J.,Silvestre C.,Cunha R.,et al. Trajectory tracking nonlinear model predictive control for autonomous surface craft[J]. IEEE Transactions on Control Systems Technology,2014,22(6):2160-2175.
APA Guerreiro B.J.,Silvestre C.,Cunha R.,&Pascoal A..(2014).Trajectory tracking nonlinear model predictive control for autonomous surface craft.IEEE Transactions on Control Systems Technology,22(6),2160-2175.
MLA Guerreiro B.J.,et al."Trajectory tracking nonlinear model predictive control for autonomous surface craft".IEEE Transactions on Control Systems Technology 22.6(2014):2160-2175.
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