Nonlinear model predictive control-based guidance law for path following of unmanned surface vehicles
<|reference_start|>Nonlinear model predictive control-based guidance law for path following of unmanned surface vehicles: This work proposes a nonlinear model predictive control-based guidance strategy for unmanned surface vehicles, focused on path following. The application of this strategy, in addition to overcome drawbacks of previous line-of-sight-based guidance laws, intends to enable the application of predictive strategies also to the low-level control, responsible for tracking the references provided by the guidance strategy. The stability and robustness of the proposed strategy are theoretically discussed. Furthermore, given the non-negligible computational cost of such nonlinear predictive guidance strategy, a practical nonlinear model predictive control strategy is also applied in order to reduce the computational cost to a great extent. The effectiveness and advantages of both proposed strategies over other nonlinear guidance laws are illustrated through a complete set of simulations.<|reference_end|>
@article{bejarano2024nonlinear,
    title={Nonlinear model predictive control-based guidance law for path following
  of unmanned surface vehicles},
    author={G. Bejarano, J. M. Manzano, J. R. Salvador, D. Limon},
    journal={Ocean Engineering (2022), 258, 111764},
    year={2024},
    doi={10.1016/j.oceaneng.2022.111764},
    archivePrefix={arXiv},
    eprint={2402.03391},
    primaryClass={eess.SY cs.SY}
}