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• Model Predictive Super-Twisting Sliding Mode Control for An Autonomous Surface Vehicle

  Publikacja

  • H. Nejatbakhsh Esfahani
  • R. Szłapczyński

  - Polish Maritime Research - Rok 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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