Nonlinear model predictive control applied to robust guidance of autonomous surface vehicles

被引：2

作者：

Maria Manzano, Jose ^{[1
]}

Ramon Salvador, Jose ^{[1
]}

Bejarano, Guillermo ^{[1
]}

Limon, Daniel ^{[2
]}

机构：

[1] Univ Loyola Andalucia, Dept Engn, Ave Univ S-N, Seville 41704, Spain

[2] Univ Seville, Syst Engn & Automat Dept, Camino Descubrimientos S-N, Seville 41092, Spain

来源：

2021 60TH IEEE CONFERENCE ON DECISION AND CONTROL (CDC) | 2021年

关键词：

PATH-FOLLOWING CONTROL; MPC;

D O I：

10.1109/CDC45484.2021.9683591

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper proposes a nonlinear model predictive control-based guidance strategy for autonomous surface vehicles, focused on the path following approach to motion control. The application of this strategy, in addition to overcome the 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 high-level strategy. The robust and stable features of the proposed strategy are discussed, while the effectiveness and the advantages over other nonlinear guidance laws are illustrated through a complete set of simulations.

引用

页码：5735 / 5740

页数：6

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