文章基本信息

标题：Input-Constrained Path Following for Autonomous Marine Vehicles with a Global Region of Attraction ⁎
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作者：Nguyen T. Hung ; F. Rego ; N. Crasta 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2018
卷号：51
期号：29
页码：348-353
DOI：10.1016/j.ifacol.2018.09.499
语种：English
出版社：Elsevier
摘要：AbstractThis paper presents a solution to the problem of path following control for autonomous marine vehicles (AMVs) subject to input constraints and constant ocean current disturbances. We propose two nonlinear control strategies: the first is obtained by using a Lyapunov-based design method, while the second is developed by adopting a Model Predictive Control (MPC) framework. We show that, with the proposed control strategies, the path-following error is globally asymptotically stable (GAS). Simulations with a kinematic model of the vehicle support the theoretical results. Simulations with a realistic model of the Medusa class of AMVs show the robustness of the proposed control strategies.
关键词：KeywordsAMVsPath followingMPCInput constraint