Nonlinear model predictive control-based guidance law for path following of unmanned surface vehicles
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arXiv
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| Hauptverfasser: | , , , |
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| Format: | Preprint |
| Veröffentlicht: |
2024
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| _version_ | 1866914670323957760 |
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| author | Bejarano, G. Manzano, J. M. Salvador, J. R. Limon, D. |
| author_facet | Bejarano, G. Manzano, J. M. Salvador, J. R. Limon, D. |
| contents | This work proposes a nonlinear model predictive control-based guidance strategy for unmanned surface vehicles, focused on path following. The application of this strategy, in addition to overcome drawbacks of previous line-of-sight-based guidance laws, intends to enable the application of predictive strategies also to the low-level control, responsible for tracking the references provided by the guidance strategy. The stability and robustness of the proposed strategy are theoretically discussed. Furthermore, given the non-negligible computational cost of such nonlinear predictive guidance strategy, a practical nonlinear model predictive control strategy is also applied in order to reduce the computational cost to a great extent. The effectiveness and advantages of both proposed strategies over other nonlinear guidance laws are illustrated through a complete set of simulations. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2402_03391 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Nonlinear model predictive control-based guidance law for path following of unmanned surface vehicles Bejarano, G. Manzano, J. M. Salvador, J. R. Limon, D. Systems and Control This work proposes a nonlinear model predictive control-based guidance strategy for unmanned surface vehicles, focused on path following. The application of this strategy, in addition to overcome drawbacks of previous line-of-sight-based guidance laws, intends to enable the application of predictive strategies also to the low-level control, responsible for tracking the references provided by the guidance strategy. The stability and robustness of the proposed strategy are theoretically discussed. Furthermore, given the non-negligible computational cost of such nonlinear predictive guidance strategy, a practical nonlinear model predictive control strategy is also applied in order to reduce the computational cost to a great extent. The effectiveness and advantages of both proposed strategies over other nonlinear guidance laws are illustrated through a complete set of simulations. |
| title | Nonlinear model predictive control-based guidance law for path following of unmanned surface vehicles |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2402.03391 |