ASV Station Keeping under Wind Disturbances using Neural Network Simulation Error Minimization Model Predictive Control

• Published in: arXiv.org
• Main Authors: Chavez-Galaviz, Jalil, Li, Jianwen, Chaudhary, Ajinkya, Mahmoudian, Nina
• Format: Paper
• Language: English
• Published: Ithaca Cornell University Library, arXiv.org 11.10.2023
• Subjects: Confined spaces; Differential equations; Disturbances; Feedback control; Maneuvers; Neural networks; Optimization; Ordinary differential equations; Position errors; Predictive control; Robotics; Simulation; Sliding mode control; Stationkeeping; Surface vehicles

Station keeping is an essential maneuver for Autonomous Surface Vehicles (ASVs), mainly when used in confined spaces, to carry out surveys that require the ASV to keep its position or in collaboration with other vehicles where the relative position has an impact over the mission. However, this maneu...