Dubins Path Tracking Controller of USV using Model Predictive Control in Sea Field

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6 Citations (Scopus)

Abstract

This study considers a USV controller for trajectory tracking. The USV moves along the trajectory at constant forward speed with a measured disturbance. The input for the USV motion is the rudder angle. The USV controller is obtained by using Robust Model Predictive Control. This study considers the sea wave as a disturbance. The trajectory is generated by Dubins path. The computational results show that the robust MPC can guide the ship to follow the trajectory and handle the disturbance. The performance of Robust MPC is similar to the case of MPC when applied to a disturbance-free model.

Original languageEnglish
Pages (from-to)7778-7787
Number of pages10
JournalARPN Journal of Engineering and Applied Sciences
Volume14
Issue number20
DOIs
Publication statusPublished - 2019

Keywords

  • Dubins path
  • MPC
  • USV
  • computational results
  • trajectory
  • wave disturbance

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