Search results for: CHATTERING ATTENUATION - Bridge of Knowledge

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Model Predictive Super-Twisting Sliding Mode Control for An Autonomous Surface Vehicle
Publication
- H. Nejatbakhsh Esfahani
- R. Szłapczyński
- Polish Maritime Research - Year 2019
This paper presents a new robust Model Predictive Control (MPC) algorithm for trajectory tracking of an Autonomous Surface Vehicle (ASV) in presence of the time-varying external disturbances including winds, waves and ocean currents as well as dynamical uncertainties. For fulfilling the robustness property, a sliding mode control-based procedure for designing of MPC and a super-twisting term are adopted. The MPC algorithm has been...

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