An improved MPSP‐based path‐following control method for USV with input disturbances

This study proposes an improved model predictive static programming (MPSP) based path‐following control method for unmanned surface vessel (USV) subject to input disturbances. The method addresses the challenges of accurate USV dynamics modeling, unpredictable maritime environments, and limited powe...

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Vydáno v:Optimal control applications & methods Ročník 46; číslo 2; s. 440 - 458
Hlavní autoři: Li, Ao, Hu, Xiaoxiang, Dong, Kejun, Xiao, Bing
Médium: Journal Article
Jazyk:angličtina
Vydáno: Glasgow Wiley Subscription Services, Inc 01.03.2025
Témata:
Algorithms
Control methods
Control systems
Disturbances
Robust control
Tracking
ISSN:0143-2087, 1099-1514
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Shrnutí:This study proposes an improved model predictive static programming (MPSP) based path‐following control method for unmanned surface vessel (USV) subject to input disturbances. The method addresses the challenges of accurate USV dynamics modeling, unpredictable maritime environments, and limited power and energy systems. A trajectory generator is designed to construct smooth reference trajectories, and the MPSP algorithm is adapted to handle path‐following problems while considering state and input constraints. An event‐triggered mechanism is introduced to reduce computational burden and conserve energy. Comparative simulations demonstrate the superiority of the proposed method over open‐loop tracking and the original MPSP approach in terms of tracking accuracy, disturbance rejection, and overall control performance. The improved MPSP‐based control method offers a robust and efficient solution for USV path‐following tasks, ensuring accurate tracking even in the presence of environmental disturbances and system uncertainties.
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ISSN:0143-2087
1099-1514
DOI:10.1002/oca.3166