Flatness-based MPC for underactuated surface vessels in confined areas
A two-phase model predictive controller (MPC) is proposed for underactuated surface vessel operation in confined environments. For general driving maneuvers (phase one) the ship's geometry is not considered explicitly while in more restricted areas (stage two) which occur, e.g., in mooring maneuvers, the ship's geometry is approximated to ensure collision avoidance. To remove the dynamical constraint in the problem setup, the differential flatness of the fully actuated system is exploited and the flat outputs are parameterized using B-spline functions. Underactuated behavior is retained by means of inequality constraints that are imposed on the non-controllable input. In an effort to solve the MPC, a static nonlinear optimization problem is formulated and feasibility w.r.t. obstacles and actuator constraints is ensured at collocation points. Static obstacles are considered as constructive solid geometry functions in the MPC which also takes into account disturbances induced by wind.
Code (0)
등록된 구현이 없습니다.
Tasks
Collision AvoidanceSimilar Papers 제목 키워드 기반
Optimal Trajectory Planning and Model Predictive Control of Underactuated Marine Surface Vessels using a Flatness-Based Approach
This paper demonstrates a refined approach to solving dynamic optimization problems for underactuated marine surface vessels. To this end the differential flatness of a mathematical model assuming full actuation is explo…
Model Predictive ControlTrajectory PlanningGuidance and Control of Unmanned Surface Vehicles via HEOL
This work presents a new approach to the guidance and control of marine craft via HEOL, i.e., a new way of combining flatness-based and model-free controllers. Its goal is to develop a general regulator for Unmanned Surf…
Leader-Follower Formation and Tracking Control of Underactuated Surface Vessels
This Technical Note presents a simple control approach for global trajectory tracking and formation control of underactuated surface vessels equipped with only two propellers. The control approach exploits the inherent c…
Path following of a class of underactuated mechanical systems via immersion and invariance-based orbital stabilization
This paper aims to provide a new problem formulation of path following for mechanical systems without time parameterization nor guidance laws, namely, we express the control objective as an orbital stabilization problem.…
Stranding Risk for Underactuated Vessels in Complex Ocean Currents: Analysis and Controllers
Low-propulsion vessels can take advantage of powerful ocean currents to navigate towards a destination. Recent results demonstrated that vessels can reach their destination with high probability despite forecast errors. …
Navigate