Model predictive trajectory tracking control and thrust allocation for autonomous vessels

Model predictive trajectory tracking control and thrust allocation for autonomous vessels

Haseltalab, A. (TU Delft Transport Engineering and Logistics; Amsterdam Institute for Advanced Metropolitan Solutions (AMS))
Garofano, V. (TU Delft Transport Engineering and Logistics)
van Pampus, Maurits (Student TU Delft; Amsterdam Institute for Advanced Metropolitan Solutions (AMS))
Negenborn, R.R. (TU Delft Transport Engineering and Logistics)

2020

The maneuvering control of autonomous vessels has been under extensive investigations by academic and industrial communities since it is one of the primary steps towards enabling unmanned shipping. In this paper, a model predictive control (MPC) approach is presented for trajectory tracking control of vessels which takes into account the thrust allocation (TA) problem in the presence of rotatable thrusters. In this approach, the TA problem is formulated over a finite horizon and solved with regard to the power consumption, changes in the angle and speed of actuators, and the operating constraints. In the proposed control approach, several linearization techniques have been employed to enable the adoption of quadratic programming approaches for solving the MPC's and TA's optimization problems. The performance of the proposed approach is evaluated through several simulation experiments using a replica vessel model.

Autonomous vessels
Feedback linearization
Maneuvering control
Model predictive control
Quadratic programming
Thrust allocation

http://resolver.tudelft.nl/uuid:55f0320e-c0a5-47da-80b9-bd1e8fa390b8

https://doi.org/10.1016/j.ifacol.2020.12.1457

1474-6670

IFAC-PapersOnLine, 53 (2), 14532-14538

21st IFAC World Congress 2020, 2020-07-12 → 2020-07-17, Berlin, Germany

Institutional Repository

journal article

© 2020 A. Haseltalab, V. Garofano, Maurits van Pampus, R.R. Negenborn