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 …

The path following control under disturbance was studied for an underactuated unmanned
surface vehicle (USV) subject to the rudder angle and velocity constraints. For this reason, a …

An optimal sliding mode control (SMC) with state observer is presented for trajectory tracking
of under-actuated ships with the model uncertainties, environmental disturbances, input …

The method of a designed trajectory tracking for an underactuated unmanned surface
vehicle (USV) in the presence of ocean disturbances is addressed in this paper; the …

A trajectory tracking control method based on the cascade of optimal guidance and adaptive
control laws was proposed for trajectory tracking of an unmanned surface vehicle under …

摘要以欠驱动船舶为研究对象, 针对滑模控制在欠驱动船舶航迹跟踪控制应用中存在的抖振问题
, 提出一种基于超螺旋滑模控制的航迹跟踪控制方法. 在该方法中为实现对给定航迹的跟踪控制 …

针对无人船受到风浪等不确定性干扰时易出现轨迹跟踪误差大, 自适应增益范围小,
滑模控制方法的抖振等问题, 提出了一种新型自适应超螺旋滑模控制算法. 根据无人船结构建立 …

为提高船舶在闸室水域的航行效率和安全性, 开展了船闸水域船舶列队协同停船控制方法的研究
. 建立了闸室水域船舶列队直航运动模型, 基于模型预测控制原理分别提出了速度-时间法和速度 …

[目的] 解决具有外部受风流干扰和舵角输入受约束的欠驱动船舶路径跟踪问题.[方法]
采用基于欧拉迭代的模型预测控制算法(MPC) 对欠驱动船舶路径跟踪进行控制.[结果] MPC …

[Objective] Aiming at the problems of dynamic uncertainty and unknown disturbance in the
trajectory tracking control of underactuated surface ships, a finite time trajectory tracking …