Unmanned sailboat trajectory tracking method based on model predictive control

Jinheng JIA; Yan HUANG; Wentao ZHAO; Zhaoyang SUN; Minxiu YAN

doi:10.19693/j.issn.1673-3185.03162

[4] [4] KUMAR P, IPPOLITO C. Modeling trajecty control of an autonomous sailboat f path planning[C]Proceedings of the AIAA Infotech@Aerospace Conference. Seattle, Washington: AIAA, 2009.

[5] [5] STRÖMBECK C. Modeling, control optimal trajecty determination f an autonomous sailboat[D]. Lund: Lund University, 2017.

[7] DONG Y Q, WU N L, QI J et al. Predictive course control and guidance of autonomous unmanned sailboat based on efficient sampled Gaussian process[J]. Journal of Marine Science and Engineering, 9, 1420(2021).

[8] [8] PENG Y, HAN J D, SONG Q. Tracking control of underactuated surface ships: using unscented Kalman filter to estimate the uncertain parameters[C]Proceedings of 2007 International Conference on Mechatronics Automation. Harbin,China: IEEE, 2007: 1884−1889.

[9] DONG Z P, WAN L, LI Y M et al. Trajectory tracking control of underactuated USV based on modified backstepping approach[J]. International Journal of Naval Archi-tecture and Ocean Engineering, 7, 817-832(2015).

[13] ZHANG G Q, LI J Q, ZHANG X K et al. Improved integral LOS guidance and path-following control for an unmanned robot sailboat via the robust neural damping technique[J]. The Journal of Navigation, 72, 1378-1398(2019).

[14] XIAO L, JOUFFROY J. Modeling and nonlinear heading control of sailing yachts[J]. IEEE Journal of Oceanic Engineering, 39, 256-268(2014).

[15] WILLE K L, HASSANI V, SPRENGER F. Modeling and course control of sailboats[J]. IFAC-PapersOnLine, 49, 532-539(2016).