TY - GEN
T1 - Unmanned Surface Vehicle Path Following Based on Model Predictive Control
AU - Liang, Jianjian
AU - Wang, Shoukun
AU - Wang, Bo
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - To deal with the challenging problem of unmanned surface vehicle (USV) path following, a method based on model predictive control (MPC) is designed in this paper. An USV is a typical nonholonomic constrained and under-actuated system, and it has huge inertia while there is no effective brake system to control its drift. In order to follow a given path better, prediction based method should be used to take the future states into account. The kinetic model of USV has been established to simulate the prediction horizon while the inertia and hydrodynamic forces are considered. Numerical simulations are carried out and demonstrate that the controller can command the USV to follow a series of waypoints smoothly and accurately.
AB - To deal with the challenging problem of unmanned surface vehicle (USV) path following, a method based on model predictive control (MPC) is designed in this paper. An USV is a typical nonholonomic constrained and under-actuated system, and it has huge inertia while there is no effective brake system to control its drift. In order to follow a given path better, prediction based method should be used to take the future states into account. The kinetic model of USV has been established to simulate the prediction horizon while the inertia and hydrodynamic forces are considered. Numerical simulations are carried out and demonstrate that the controller can command the USV to follow a series of waypoints smoothly and accurately.
KW - model predictive control (MPC)
KW - path following
KW - unmanned surface vehicle (USV)
UR - http://www.scopus.com/inward/record.url?scp=85189300613&partnerID=8YFLogxK
U2 - 10.1109/CAC59555.2023.10450269
DO - 10.1109/CAC59555.2023.10450269
M3 - Conference contribution
AN - SCOPUS:85189300613
T3 - Proceedings - 2023 China Automation Congress, CAC 2023
SP - 5010
EP - 5015
BT - Proceedings - 2023 China Automation Congress, CAC 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2023 China Automation Congress, CAC 2023
Y2 - 17 November 2023 through 19 November 2023
ER -