MPC-based optimal path following for underactuated vessels

IFAC Proceedings Volumes (IFAC-PapersOnline)

Volumn 42, Issue 18, 2009, Pages 340-345

  Pavlov, Alexey ^a   Nordahl, Håvard ^b   Breivik, Morten ^a  

^a NORWEGIAN UNIVERSITY OF SCIENCE AND TECHNOLOGY   (Norway)

^b Marine Cybernetics   (Norway)

Author keywords

MPC; Nonlinear systems; Path following; Stability; Underactuated vessels

Indexed keywords

ASYMPTOTIC STABILITY; CLOSED LOOP SYSTEMS; CONVERGENCE OF NUMERICAL METHODS; MODEL PREDICTIVE CONTROL; NONLINEAR SYSTEMS; PREDICTIVE CONTROL SYSTEMS;

COMPUTATION TIME; FAST CONVERGENCE; GLOBAL ASYMPTOTIC STABILITY; OPTIMAL PERFORMANCE; OPTIMIZATION PROBLEMS; PATH FOLLOWING; STRAIGHT-LINE PATHS; UNDERACTUATED VESSELS;

SYSTEM STABILITY;

EID: 80051505295     PISSN: 14746670     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.3182/20090916-3-BR-3001.0065     Document Type: Conference Paper

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