Trajectory Tracking of a Fully-actuated Surface Vessel using Nonlinear Model Predictive Control. Issue 16 (2021)

• Record Type: Journal Article
• Authors: Kinjo, Leticia Mayumi; Wirtensohn, Stefan; Reuter, Johannes; Menard, Tomas; Gehan, Olivier
• Is Part Of: IFAC-PapersOnLine. Volume 54:Issue 16(2021)
• Page Start: 51
• Page End: 56
• Publication Date: 2021
• Subjects: Fully-actuated autonomous surface vessels -- nonlinear model predictive Control -- trajectory tracking -- parameter identification; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2021.10.072
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: The trajectory tracking problem for a fully-actuated real-scaled surface vessel is addressed in this paper. The unknown hydrodynamic and propulsion parameters of the vessel's dynamic model were identified using an experimental maneuver-based identification process. Then, a nonlinear model predictive control (NMPC) scheme is designed and the controller's performance is assessed through the variation of NMPC parameters and constraints tightening for tracking a curved trajectory.