Model Predictive Super-Twisting Sliding Mode Control for an Autonomous Surface Vehicle
This paper presents a new robust Model Predictive Control (MPC) algorithm for trajectory tracking of an Autonomous Surface Vehicle (ASV) in presence of the time-varying external disturbances including winds, waves and ocean currents as well as dynamical uncertainties. For fulfilling the robustness p...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Sciendo
2019-09-01
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| Series: | Polish Maritime Research |
| Subjects: | |
| Online Access: | https://doi.org/10.2478/pomr-2019-0057 |