文章基本信息

标题：Real-time model predictive line following control for underactuated marine vehicles
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作者：Nadir Kapetanović ; Marco Bibuli ; Nikola Mišković 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2017
卷号：50
期号：1
页码：12374-12379
DOI：10.1016/j.ifacol.2017.08.2501
语种：English
出版社：Elsevier
摘要：AbstractA linear model predictive control (LMPC) based framework is developed for underactuated marine vehicles’ kinematic line following while moving at a constant depth in the presence of disturbance. LMPC is used as a high level controller which sets the reference surge and yaw velocities for the low level PID tracking controllers. Used ACADO optimization toolbox solves the optimal problem at hand in real-time. This framework has shown good results both in simulation environment and in on-sea experiments.
关键词：Keywordsunmanned marine vehiclesmarine systems navigationguidancecontrolmodel predictive controldisturbance rejection