engleski

Development of model predictive guidance for underactuated marine vehicles: From simulations to experiments

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. An improved line following performance measure has been used to asses system performance with respect to MPC's parameters. 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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