Trajectory tracking nonlinear model predictive control for autonomous surface craft

2013 ◽  
Author(s):  
Bruno J. Guerreiro ◽  
Carlos Silvestre ◽  
Rita Cunha ◽  
Antonio Pascoal
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Nonlinear Model ◽  
Trajectory Tracking ◽  
Nonlinear Model Predictive Control

scholarly journals Trajectory Tracking of a Fully-actuated Surface Vessel using Nonlinear Model Predictive Control

2021 ◽  
Vol 54 (16) ◽  
pp. 51-56
Author(s):  
Leticia Mayumi Kinjo ◽  
Stefan Wirtensohn ◽  
Johannes Reuter ◽  
Tomas Menard ◽  
Olivier Gehan
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Nonlinear Model ◽  
Trajectory Tracking ◽  
Nonlinear Model Predictive Control ◽  
Surface Vessel

Explicit nonlinear model predictive control tracking control based on a sliding mode observer for a quadrotor subject to disturbances

2019 ◽  
Vol 42 (2) ◽  
pp. 214-227 ◽  
Author(s):  
Nadia Miladi ◽  
Habib Dimassi ◽  
Salim Hadj Said ◽  
Faouzi M’Sahli
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Nonlinear Model ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Sliding Mode ◽  
High Gain ◽  
Sliding Mode Observer ◽  
Nonlinear Model Predictive Control ◽  
Control Approach

In this paper, we propose an explicit nonlinear model predictive control (ENMPC) method based on a robust observer to solve the trajectory tracking problem for outdoor quadrotors. We take into consideration the external aerodynamic disturbances present in the dynamics of the Newton-Euler quadrotor model. To overcome the effects of these disturbances, a high gain observer combined with a first order sliding mode observer are proposed to estimate both the states and the unknown disturbances using the only positions and angular measurements of the quadrotor. The estimated signals are then used by the predictive controller in order to ensure the trajectory tracking objective. Despite the presence of bounded disturbances, the convergence of the composite controller (ENMPC technique with the latter observers) is guaranteed through a stability analysis. Theoretical results are validated with some numerical simulations showing the good performances of the proposed tracking control approach.

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