Model predictive trajectory tracking control and thrust allocation for autonomous vessels

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...

Adaptive control for autonomous ships with uncertain model and unknown propeller dynamics

Motion control is one of the most critical aspects in the design of autonomous ships. During maneuvering, the dynamics of propellers as well as the craft hydrodynamical specifications experience severe uncertainties. In this paper, an adaptive control approach is proposed to control the motion and trajectory tracking of an autonomous vessel...