Berthing Trajectory Tracking of Underactuated Surface Vehicle Based on NMPC and Position Estimation.
Zuxin WuBaigang ZhaoXu HanDi LuPublished in: IEEE Access (2024)
Keyphrases
- position estimation
- receding horizon
- trajectory tracking
- sliding mode
- formation control
- optimal linear
- air traffic control
- autonomous navigation
- closed loop
- dynamic model
- position and orientation
- iterative learning
- bi directional
- stability analysis
- control law
- parameter estimation
- control system
- control method
- physical constraints
- three dimensional
- visual servoing
- unmanned aerial vehicles
- robot manipulators
- path planning
- d objects
- real time
- variable structure
- mobile robot
- machine learning