This is the Way: Mitigating the Roll of an Autonomous Uncrewed Surface Vessel in Wavy Conditions Using Model Predictive Control
<|reference_start|>This is the Way: Mitigating the Roll of an Autonomous Uncrewed Surface Vessel in Wavy Conditions Using Model Predictive Control: Though larger vessels may be well-equipped to deal with wavy conditions, smaller vessels are often more susceptible to disturbances. This paper explores the development of a nonlinear model predictive control (NMPC) system for Uncrewed Surface Vessels (USVs) in wavy conditions to minimize average roll. The NMPC is based on a prediction method that uses information about the vessel's dynamics and an assumed wave model. This method is able to mitigate the roll of an under-actuated USV in a variety of conditions by adjusting the weights of the cost function. The results show a reduction of 39% of average roll with a tuned controller in conditions with 1.75-metre sinusoidal waves. A general and intuitive tuning strategy is established. This preliminary work is a proof of concept which sets the stage for the leveraging of wave prediction methodologies to perform planning and control in real time for USVs in real-world scenarios and field trials.<|reference_end|>
@article{jenkins2024this,
    title={This is the Way: Mitigating the Roll of an Autonomous Uncrewed Surface
  Vessel in Wavy Conditions Using Model Predictive Control},
    author={Daniel L. Jenkins, Joshua A. Marshall},
    journal={arXiv preprint arXiv:2408.15349},
    year={2024},
    archivePrefix={arXiv},
    eprint={2408.15349},
    primaryClass={cs.RO cs.SY eess.SY}
}