Abstract:This study investigates the trajectory-tracking problem of fully actuated unmanned surface vessels (USVs). A three-degree-of-freedom (3-DOF) dynamic model was used with three control variables: surge force, sway force, and yaw moment, where the model uncertainties, environmental disturbances, and actuator saturation were also considered. An improved nonlinear model predictive control (NMPC) method was investigated to improve the control performance in the trajectory tracking of USVs, and a nonlinear optimizati… Show more
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