Trajectory Tracking Predictive Control for Unmanned Surface Vehicles with Improved Nonlinear Disturbance Observer

Trajectory Tracking Predictive Control for Unmanned Surface Vehicles with Improved Nonlinear Disturbance Observer

The motion of unmanned surface vehicles (USVs) is frequently disturbed by ocean wind, waves, and currents. A poorly designed controller will cause failures and safety problems during actual navigation. To obtain a satisfactory motion control performance for the USVs, a model predictive control (MPC)...

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Bibliographic Details
Main Authors:	Huixuan Fu, Wenjing Yao, Ricardo Cajo, Shiquan Zhao
Format:	Article
Language:	English
Published:	MDPI AG 2023-09-01
Series:	Journal of Marine Science and Engineering
Subjects:	unmanned surface vehicle trajectory tracking nonlinear disturbance observer model predictive control
Online Access:	https://www.mdpi.com/2077-1312/11/10/1874

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