| Título | Nonlinear model predictive control applied to robust guidance of autonomous surface vehicles |
|---|---|
| Autores | MANZANO CRESPO, JOSÉ MARÍA, SALVADOR ORTIZ, JOSÉ RAMÓN, BEJARANO PELLICER, GUILLERMO, Limon D. |
| Publicación externa | No |
| Medio | Proc IEEE Conf Decis Control |
| Alcance | Conference Paper |
| Naturaleza | Científica |
| Web | https://www.scopus.com/inward/record.uri?eid=2-s2.0-85126071719&doi=10.1109%2fCDC45484.2021.9683591&partnerID=40&md5=30fea108340847549ceec0914725d646 |
| Fecha de publicacion | 01/01/2021 |
| ISI | 000781990305004 |
| Scopus Id | 2-s2.0-85126071719 |
| DOI | 10.1109/CDC45484.2021.9683591 |
| Abstract | This paper proposes a nonlinear model predictive control-based guidance strategy for autonomous surface vehicles, focused on the path following approach to motion control. The application of this strategy, in addition to overcome the 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 high-level strategy. The robust and stable features of the proposed strategy are discussed, while the effectiveness and the advantages over other nonlinear guidance laws are illustrated through a complete set of simulations. © 2021 IEEE. |
| Palabras clave | Air navigation; Autonomous vehicles; Model predictive control; Nonlinear systems; Predictive control systems; Autonomous surface vehicles; Complete sets; Guidance laws; Guidance strategy; Line of Sight; Lines-of-sight; Nonlinear guidance laws; Nonlinear model predictive control; Path following; Unmanned surface vehicles |
| Miembros de la Universidad Loyola |