Título Nonlinear model predictive control applied to robust guidance of autonomous surface vehicles
Autores MANZANO CRESPO, JOSÉ MARÍA, SALVADOR ORTIZ, JOSÉ RAMÓN, BEJARANO PELLICER, GUILLERMO, Limon D.
Publicación externa No
Medio Proc IEEE Conf Decis Control
Alcance Conference Paper
Naturaleza Científica
Web https://www.scopus.com/inward/record.uri?eid=2-s2.0-85126071719&doi=10.1109%2fCDC45484.2021.9683591&partnerID=40&md5=30fea108340847549ceec0914725d646
Fecha de publicacion 01/01/2021
ISI 000781990305004
Scopus Id 2-s2.0-85126071719
DOI 10.1109/CDC45484.2021.9683591
Abstract 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.
Palabras clave 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
Miembros de la Universidad Loyola