With the trends towards autonomous shipping, advanced ship motion control methods have
received increased attention in recent years. The validity of ship models is crucial in …

According to whether the mechanism model of the controlled ship system is introduced into
the algorithm, the ship motion control mode can be divided into model-based mode and …

Since vessel dynamics could vary during maneuvering because of load changes, speed
changing, environmental disturbances, aging of mechanism, etc., the performance of model …

This note focuses on the waypoints-based path-following problem of underactuated ships,
where the reference path is surrounded by multiple static and moving obstacles. By virtue of …

A model predictive control approach is proposed for path following of underactuated surface
ships with input saturation, parameters uncertainties, and environmental disturbances. An …

For actualization of ship tracking control along a desired path with a constant velocity, a
hybrid model is proposed to represent the ship's tracking dynamic behavior. Firstly, a single …

Toward autonomy in marine vehicles, a high-quality dynamic model is the first step before
robust controls and should be properly addressed. However, vessels operating on the …

A model predictive control (MPC) method with linear extended state observer (LESO) is
presented to address the problems of the input constraints, uncertain parameters and …

Underactuated autonomous surface vehicles (ASVs) have stringent requirements on
automatically tracking a predefined path. This paper proposes a model predictive control …

Around the waypoint-based path-following control for marine ships, a novel dynamic virtual
ship (DVS) guidance principle is developed to implement the assumption “the reference …