Trajectory Tracking Multi-mode Predictive Control Based on Soft-switching for Unmanned Surface Vehicle

• Published in: Chinese Control Conference pp. 2819 - 2825
• Main Authors: Duan, Kunpeng, Dong, Shanling, Liu, Meiqin, Zhang, Senlin
• Format: Conference Proceeding
• Language: English
• Published: Technical Committee on Control Theory, Chinese Association of Automation 28.07.2024
• Subjects: model predictive control; multi-mode control; Planning; Prediction algorithms; Predictive models; Reliability; Sea surface; Simulation; Trajectory tracking; Unmanned surface vehicle

The unmanned surface vehicle (USV) plays a vital role in ocean exploration and utilization. Its primary tasks include navigating designated routes and safely avoiding obstacles in complex environments, ensuring efficient and secure arrival at destinations. This paper proposes a soft-switching-based...