| Título |
Nonlinear model predictive control-based guidance law for path following of unmanned surface vehicles |
| Autores |
BEJARANO PELLICER, GUILLERMO, MANZANO CRESPO, JOSÉ MARÍA, SALVADOR ORTIZ, JOSÉ RAMÓN, Limon, Daniel |
| Publicación externa |
No |
| Medio |
Ocean Eng. |
| Alcance |
Article |
| Naturaleza |
Científica |
| Cuartil JCR |
1 |
| Cuartil SJR |
1 |
| Web |
https://www.scopus.com/inward/record.uri?eid=2-s2.0-85133489927&doi=10.1016%2fj.oceaneng.2022.111764&partnerID=40&md5=09ea9c978093a7b35eb5234b42dc732f |
| Fecha de publicacion |
15/08/2022 |
| ISI |
000827460200002 |
| Scopus Id |
2-s2.0-85133489927 |
| DOI |
10.1016/j.oceaneng.2022.111764 |
| Abstract |
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. |
| Palabras clave |
Unmannedsurfacevehicles; Pathfollowingcontrol; Nonlinearsystems; Modelpredictivecontrol; Robuststability |
| Miembros de la Universidad Loyola |
|
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