Nonlinear model predictive control-based guidance law for path following of unmanned surface vehicles

This work proposes a nonlinear model predictive control-based guidance strategy for unmanned surface vehicles, focused on path following. The application of this strategy, in addition to overcome drawbacks of previous line-of-sight-based guidance laws, intends to enable the application of predictive...

Full description

Saved in:
Bibliographic Details
Published in:arXiv.org 2024-02
Main Authors: Bejarano, G, Manzano, J M, Salvador, J R, Limon, D
Format: Article
Language:English
Subjects:
Computational efficiency
Computing costs
Guidance (motion)
Nonlinear control
Predictive control
Surface vehicles
Tracking control
Trajectory planning
Unmanned vehicles
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:This work proposes a nonlinear model predictive control-based guidance strategy for unmanned surface vehicles, focused on path following. The application of this strategy, in addition to overcome drawbacks of previous line-of-sight-based guidance laws, intends to enable the application of predictive strategies also to the low-level control, responsible for tracking the references provided by the guidance strategy. The stability and robustness of the proposed strategy are theoretically discussed. Furthermore, given the non-negligible computational cost of such nonlinear predictive guidance strategy, a practical nonlinear model predictive control strategy is also applied in order to reduce the computational cost to a great extent. The effectiveness and advantages of both proposed strategies over other nonlinear guidance laws are illustrated through a complete set of simulations.
ISSN:2331-8422
DOI:10.48550/arxiv.2402.03391