MANZANO CRESPO, JOSÉ MARÍA, SALVADOR ORTIZ, JOSÉ RAMÓN, BEJARANO PELLICER, GUILLERMO, Limon D.

No

Proc IEEE Conf Decis Control

Conference Paper

Científica

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https://www.scopus.com/inward/record.uri?eid=2-s2.0-85126071719&doi=10.1109%2fCDC45484.2021.9683591&partnerID=40&md5=30fea108340847549ceec0914725d646

01/01/2021

000781990305004

2-s2.0-85126071719

10.1109/CDC45484.2021.9683591

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. © 2021 IEEE.

Air navigation; Autonomous vehicles; Model predictive control; Nonlinear systems; Predictive control systems; Autonomous surface vehicles; Complete sets; Guidance laws; Guidance strategy; Line of Sight; Lines-of-sight; Nonlinear guidance laws; Nonlinear model predictive control; Path following; Unmanned surface vehicles

• GUILLERMO BEJARANO PELLICER
• JOSÉ MARÍA MANZANO CRESPO
• JOSÉ RAMÓN SALVADOR ORTIZ