Preview-Based Optimal Control for Trajectory Tracking of Fully-Actuated Marine Vessels
In this paper, the problem of preview optimal control for second-order nonlinear systems for marine vessels is discussed on a fully actuated dynamic model. First, starting from a kinematic and dynamic model of a three-degrees-of-freedom (DOF) marine vessel, we derive a fully actuated second-order dy...
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2024-12-01
|
| Series: | Mathematics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2227-7390/12/24/3942 |