Real-time model predictive line following control for underactuated marine vehicles (CROSBI ID 650193)
Prilog sa skupa u časopisu | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Kapetanović, Nadir ; Bibuli, Marco ; Mišković, Nikola ; Caccia, Massimo
engleski
Real-time model predictive line following control for underactuated marine vehicles
A 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.
unmanned marine vehicles, marine systems navigation, guidance and control, model predictive control, disturbance rejection
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Podaci o prilogu
12374-12379.
2017.
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objavljeno
10.1016/j.ifacol.2017.08.2501
Podaci o matičnoj publikaciji
IFAC-PapersOnLine
Dochain Denis ; Henrion Didier ; Peaucelle, Dimitri
Elsevier
2405-8963
Podaci o skupu
20th World Congress of the International Federation of Automatic Control (IFAC)
predavanje
09.07.2017-14.07.2017
Toulouse, Francuska