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Title:Model predictive trajectory tracking control and thrust allocation for autonomous vessels
Authors:A. Haseltalab, V. Garofano, M. van Pampus, R.R. Negenborn

Conference:21st IFAC World Congress (IFAC2020)
Address:Berlin, Germany
Date:July 2020

Abstract: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 thrust allocation (TA) problem in the presence of rotatable thrusters. In this approach, the TA problem is formulated over a finite horizon and solved with regard to the power consumption, changes in the angle and speed of actuators, and the operating constraints. In the proposed control approach, several linearization techniques have been employed to enable the adoption of quadratic programming approaches for solving the MPC's and TA's optimization problems. The performance of the proposed approach is evaluated through several simulation experiments using a replica vessel model.

Reference:A. Haseltalab, V. Garofano, M. van Pampus, R.R. Negenborn. Model predictive trajectory tracking control and thrust allocation for autonomous vessels. Accepted for the 21st IFAC World Congress (IFAC2020), Berlin, Germany, July 2020.
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