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.


Published in:
Ifac Papersonline, 51, 29, 348-353
Presented at:
11th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicles (CAMS), Opatija, CROATIA, Sep 10-12, 2018
Year:
Jan 01 2018
Publisher:
Amsterdam, ELSEVIER SCIENCE BV
ISSN:
2405-8963
Keywords:




 Record created 2018-12-13, last modified 2019-01-21


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