Stochastic Model Predictive Control for the Set Point Tracking of Unmanned Surface Vehicles

Stochastic Model Predictive Control for the Set Point Tracking of Unmanned Surface Vehicles

An unmanned surface vehicles (USV) set point tracking problem is investigated in this paper. The stochastic model predictive control (SMPC) scheme is utilized to design the controller in order to reject the environment disturbances and meet the physical constraints. The design problem is formulated...

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Bibliographic Details
Main Authors: Yuan Tan, Guangbin Cai, Bin Li, Kok Lay Teo, Song Wang
Format: Article
Language:English
Published: IEEE 2020-01-01
Series:IEEE Access
Subjects:
Unmanned surface vehicles (USV)
set point tracking
stochastic model predictive control
chance constraints
conditional value at risk (CVaR)
Online Access:https://ieeexplore.ieee.org/document/8941081/

Internet

https://ieeexplore.ieee.org/document/8941081/

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