Robust predictive control for anti-rolling path following of underactuated surface vessels using adaptive Kalman filter
With the strong time-varying disturbances in wave fields, the large sway motion of underactuated surface vessels can be caused leading to the control performance reduction and large range of roll angle, such that a novel path following control with roll constraints is proposed. Firstly, the affine s...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2019-09-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.1177/1729881419877269 |