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.

Chat with Graph Search

Ask any question about EPFL courses, lectures, exercises, research, news, etc. or try the example questions below.

DISCLAIMER: The Graph Chatbot is not programmed to provide explicit or categorical answers to your questions. Rather, it transforms your questions into API requests that are distributed across the various IT services officially administered by EPFL. Its purpose is solely to collect and recommend relevant references to content that you can explore to help you answer your questions.

Input-Constrained Path Following for Autonomous Marine Vehicles with a Global Region of Attraction

Chat with Graph Search

Koopman-based Data-driven Robust Control of Nonlinear Systems Using Integral Quadratic Constraints

Advanced control strategies to exploit the hydropower potential enhancing ancillary services provision to the power system

Frequency domain data-driven robust and optimal control