Input-Constrained Path Following for Autonomous Marine Vehicles with a Global Region of Attraction
This paper presents a solution to the problem of path following control for autonomous marine vehicles (AMVs) subject to input constraints and constant ocean current disturbances. We propose two nonlinear control strategies: the first is obtained by using a Lyapunov-based design method, while the second is developed by adopting a Model Predictive Control (MPC) framework. We show that, with the proposed control strategies, the path following error is globally asymptotically stable (GAS). Simulations with a kinematic model of the vehicle support the theoretical results. Simulations with a realistic model of the Medusa class of AMVs show the robustness of the proposed control strategies. (C) 2018, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.
WOS:000447025400059
2018-01-01
Amsterdam
51
29
348
353
REVIEWED
Event name | Event place | Event date |
Opatija, CROATIA | Sep 10-12, 2018 | |