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

No

Ocean Eng.

Article

Científica

✓

✓

5

1.326

https://www.scopus.com/inward/record.uri?eid=2-s2.0-85133489927&doi=10.1016%2fj.oceaneng.2022.111764&partnerID=40&md5=09ea9c978093a7b35eb5234b42dc732f

15/08/2022

000827460200002

2-s2.0-85133489927

10.1016/j.oceaneng.2022.111764

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.

Unmannedsurfacevehicles; Pathfollowingcontrol; Nonlinearsystems; Modelpredictivecontrol; Robuststability

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