<abstract xmlns="http://www.w3.org/1999/xhtml"><p>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 known as an effective approach for the implementation simplicity and its fast dynamic response. The proposed hybrid controller has been implemented in MATLAB / Simulink environment. The results for the combined Model Predictive Super-Twisting Sliding Mode Control (MP-STSMC) algorithm have shown that it significantly outperforms conventional MPC algorithm in terms of the transient response, robustness and steady state response and presents an effective chattering attenuation in comparison with the Super-Twisting Sliding Mode Control (STSMC) algorithm.</p></abstract>

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 known as an effective approach for the implementation simplicity and its fast dynamic response. The proposed hybrid controller has been implemented in MATLAB / Simulink environment. The results for the combined Model Predictive Super-Twisting Sliding Mode Control (MP-STSMC) algorithm have shown that it significantly outperforms conventional MPC algorithm in terms of the transient response, robustness and steady state response and presents an effective chattering attenuation in comparison with the Super-Twisting Sliding Mode Control (STSMC) algorithm.

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

Polish Maritime Research

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

This paper presents a new robust Model Predictive Control (MPC) algorithm for trajectory tracking of an Autonomous Surface Vehicle (ASV) in presence of the...

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

Online veröffentlicht: 18. Okt. 2019

Seitenbereich: 163 - 171

DOI: https://doi.org/10.2478/pomr-2019-0057

Schlüsselwörter
utonomous Surface Vehicle, Model Predictive Control, Sliding Mode Control, Super-Twisting Algorithm, Chattering Attenuation

© 2019 Hossein Nejatbakhsh Esfahani et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

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

Online veröffentlicht: 18. Okt. 2019

Seitenbereich: 163 - 171

DOI: https://doi.org/10.2478/pomr-2019-0057

Schlüsselwörterutonomous Surface Vehicle, Model Predictive Control, Sliding Mode Control, Super-Twisting Algorithm, Chattering Attenuation

© 2019 Hossein Nejatbakhsh Esfahani et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

Schlüsselwörter
utonomous Surface Vehicle, Model Predictive Control, Sliding Mode Control, Super-Twisting Algorithm, Chattering Attenuation