Robust MPC-Based Fault-Tolerant Control for Trajectory Tracking of Surface Vessel

Robust MPC-Based Fault-Tolerant Control for Trajectory Tracking of Surface Vessel

A robust control method, based on a model predictive control, is developed for the trajectory tracking of a surface vessel with sensor failures. The kinematic model of a surface vessel is first obtained. The Lyapunov stability theory and linear matrix inequalities are then adopted to produce a close...

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Bibliographic Details
Main Authors: Yu Zheng, Zhilin Liu, Lutao Liu
Format: Article
Language:English
Published: IEEE 2018-01-01
Series:IEEE Access
Subjects:
Fault-tolerant control
predictive control
surface vessel
trajectory tracking
Online Access:https://ieeexplore.ieee.org/document/8319991/

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