Trajectory tracking nonlinear model predictive control for autonomous surface craft

IEEE Transactions on Control Systems Technology

Volumn 22, Issue 6, 2014, Pages 2160-2175

  Guerreiro, Bruno J ^a   Silvestre, Carlos ^a,b   Cunha, Rita ^a   Pascoal, António ^a  

^a INSTITUTE FOR SYSTEMS AND ROBOTICS   (Portugal)

^b UNIVERSITY OF MACAU   (Macao)

Author keywords

Marine vehicles; predictive control; trajectory tracking.

Indexed keywords

NONLINEAR SYSTEMS; OCEAN CURRENTS; PREDICTIVE CONTROL SYSTEMS; REAL TIME CONTROL; TRAJECTORIES; UNMANNED SURFACE VEHICLES;

MARINE VEHICLES; NONLINEAR MODEL PREDICTIVE CONTROL; OPTIMIZATION PROBLEMS; PREDICTIVE CONTROL; REAL-TIME IMPLEMENTATIONS; STATE AND INPUT CONSTRAINTS; TRAJECTORY TRACKING; TRAJECTORY TRACKING CONTROL;

MODEL PREDICTIVE CONTROL;

EID: 84908253534     PISSN: 10636536     EISSN: 1558-0865     Source Type: Journal    
DOI: 10.1109/TCST.2014.2303805     Document Type: Article

References (22)

1. I. Kaminer A. Pascoal E. Hallberg, and C. Silvestre, "Trajectory tracking for autonomous vehicles: An integrated approach to guidance and control," J. Guid. , Control, Dyn. , vol. 21, no. 1, pp. 29-38, Jan. 1998.
2. C. Silvestre A. Pascoal, and I. Kaminer, "On the design of gainscheduled trajectory tracking controllers," Int. J. Robust Nonlinear Control, vol. 12, no. 9, pp. 797-839, Jul. 2002.
3. W. J. Rugh and J. S. Shamma, "Research on gain scheduling," Automatica, vol. 36, no. 10, pp. 1401-1425, Oct. 2000.
4. N. Paulino C. Silvestre, and R. Cunha, "Affine parameter-dependent preview control for rotorcraft terrain following," AIAA J. Guid. , Control, Dyn. , vol. 29, no. 6, pp. 1350-1359, 2006.
5. P. Gomes C. Silvestre A. Pascoal, and R. Cunha, "A coastline following preview controller for the DELFIMx vehicle," in Proc. 16th Int. Offshore Polar Eng. Conf. , Lisbon, Portugal, Jul. 2007, pp. 1-8.
6. A. Pavlov H. Nordahl, and M. Breivik, "MPC-based optimal path following for underactuated vessels," in Proc. 8th IFAC Int. Conf. Manoeuvring Control Marine Craft, Guarujá, Brazil, Sep. 2009, pp. 340-345.
7. Z. Li and J. Sun, "Disturbance compensating model predictive control with application to ship heading control," IEEE Trans. Control Syst. Technol. , vol. 20, no. 1, pp. 257-265, Jan. 2012.
8. P. Encarnaçao A. Pascoal, and M. Arcak, "Path following for autonomous marine craft," in Proc. 5th IFAC Conf. Marine Craft Maneuvering Control, Aalborg, Denmark, Aug. 2000, pp. 117-122.
9. K. D. Do Z. P. Jiang, and J. Pan, "Robust adaptive path following of underactuated ships," Automatica, vol. 40, no. 6, pp. 929-944, Jun. 2004.
10. D. Mayne J. Rawlings C. Rao, and P. Scokaert, "Constrained model predictive control: Stability and optimality," Automatica, vol. 36, no. 6, pp. 790-814, 2000.
11. G. Sutton and R. Bitmead, "Computational implementation of nonlinear model predictive control to nonlinear submarine," in Nonlinear Model Predictive Control F. Allgöwer and A. Zheng, Eds. Cambridge, MA, USA: Birkhäuser, 2000, pp. 461-471.
12. B. J. Guerreiro C. Silvestre, and R. Cunha, "Terrain avoidance nonlinear model predictive control for autonomous rotorcraft," J. Intell. Robot. Syst. , vol. 69, no. 1, pp. 69-85, 2012.
13. J. Nocedal and S. Wright, Numerical Optimization. New York, NY, USA: Springer-Verlag, 1999.
14. M. Prado, "Modeling and control of an autonomous oceanographic vehicle," M. S. thesis, Dept. Math. , Inst. Superior Técnico, Lisboa, Portugal, 2002.
15. T. I. Fossen, Guidance and Control of Ocean Vehicles. New York, NY, USA: Wiley, 1994.
16. B. J. Guerreiro C. Silvestre R. Cunha, and A. Pascoal, "Trajectory tracking nonlinear model predictive control for autonomous surface craft," in Proc. ECC, Jul. 2013, pp. 3006-3011.
17. D. P. Bertsekas, Nonlinear Programming, 2nd ed. Belmont, MA, USA: Athena Scientific, 1999.
18. L. Magni G. D. Nicolao L. Magnani, and R. Scattolini, "A stabilizing model-based predictive control algorithm for nonlinear systems," Automatica, vol. 37, no. 9, pp. 1351-1362, 2001.
19. B. J. Guerreiro C. Silvestre R. Cunha, and D. Antunes, "Trajectory tracking H2 controller for autonomous helicopters: An application to industrial chimney inspection," in Proc. 17th IFAC Symp. Autom. Control Aerosp. , Jun. 2007, pp. 431-436.
20. P. Scokaert D. Q. Mayne, and J. B. Rawlings, "Suboptimal model predictive control (feasibility implies stability)," IEEE Trans. Autom. Control, vol. 44, no. 3, pp. 648-654, Mar. 1999.
21. H. Michalska and D. Q. Mayne, "Robust receding horizon control of constrained nonlinear systems," IEEE Trans. Autom. Control, vol. 38, no. 11, pp. 1623-1633, Nov. 1993.
22. J. F. Vasconcelos B. Cardeira C. Silvestre P. Oliveira, and P. Batista, "Discrete-time complementary filters for attitude and position estimation: Design, analysis and experimental validation," IEEE Trans. Control Syst. Technol. , vol. 19, no. 1, pp. 181-198, Jan. 2011.