FRINK Linked Data Fragments server

Matches in SemOpenAlex for { <https://semopenalex.org/work/W3127856408> ?p ?o ?g. }

• W3127856408 abstract "This paper demonstrates a refined approach to solving dynamic optimization problems for underactuated marine surface vessels. To this end the differential flatness of a mathematical model assuming full actuation is exploited to derive an efficient representation of a finite dimensional nonlinear programming problem, which in turn is constrained to apply to the underactuated case. It is illustrated how the properties of the flat output can be employed for the generation of an initial guess to be used in the optimization algorithm in the presence of static and dynamic obstacles. As an example energy optimal point to point trajectory planning for a nonlinear 3 degrees of freedom dynamic model of an underactuated surface vessel is undertaken. Input constraints, both in rate and magnitude as well as state constraints due to convex and non-convex obstacles in the area of operation are considered and simulation results for a challenging scenario are reported. Furthermore, an extension to a trajectory tracking controller using model predictive control is made where the benefits of the flatness based direct method allow to introduce nonuniform sample times that help to realize long prediction horizons while maintaining short term accuracy and real time capability. This is also verified in simulation where additional disturbances in the form of environmental disturbances, dynamic obstacles and parameter mismatch are introduced." @default.
• W3127856408 created "2021-02-15" @default.
• W3127856408 creator A5002069913 @default.
• W3127856408 creator A5031012527 @default.
• W3127856408 date "2021-01-29" @default.
• W3127856408 modified "2023-09-27" @default.
• W3127856408 title "Optimal Trajectory Planning and Model Predictive Control of Underactuated Marine Surface Vessels using a Flatness-Based Approach" @default.
• W3127856408 cites W1603121482 @default.
• W3127856408 cites W1969483458 @default.
• W3127856408 cites W1970101292 @default.
• W3127856408 cites W1988484739 @default.
• W3127856408 cites W2010956689 @default.
• W3127856408 cites W2014626634 @default.
• W3127856408 cites W2018614743 @default.
• W3127856408 cites W2030794369 @default.
• W3127856408 cites W2062433045 @default.
• W3127856408 cites W2064942388 @default.
• W3127856408 cites W2065297540 @default.
• W3127856408 cites W2103398491 @default.
• W3127856408 cites W2108674204 @default.
• W3127856408 cites W2118081656 @default.
• W3127856408 cites W2123998235 @default.
• W3127856408 cites W2124659043 @default.
• W3127856408 cites W2154396405 @default.
• W3127856408 cites W2344719069 @default.
• W3127856408 cites W2565031521 @default.
• W3127856408 cites W2618796717 @default.
• W3127856408 cites W2886822351 @default.
• W3127856408 cites W2896441520 @default.
• W3127856408 cites W3152787885 @default.
• W3127856408 hasPublicationYear "2021" @default.
• W3127856408 type Work @default.
• W3127856408 sameAs 3127856408 @default.
• W3127856408 citedByCount "0" @default.
• W3127856408 crossrefType "posted-content" @default.
• W3127856408 hasAuthorship W3127856408A5002069913 @default.
• W3127856408 hasAuthorship W3127856408A5031012527 @default.
• W3127856408 hasConcept C112680207 @default.
• W3127856408 hasConcept C121332964 @default.
• W3127856408 hasConcept C126255220 @default.
• W3127856408 hasConcept C1276947 @default.
• W3127856408 hasConcept C13662910 @default.
• W3127856408 hasConcept C154945302 @default.
• W3127856408 hasConcept C157972887 @default.
• W3127856408 hasConcept C158622935 @default.
• W3127856408 hasConcept C172205157 @default.
• W3127856408 hasConcept C203479927 @default.
• W3127856408 hasConcept C2524010 @default.
• W3127856408 hasConcept C26405456 @default.
• W3127856408 hasConcept C2775924081 @default.
• W3127856408 hasConcept C2778530986 @default.
• W3127856408 hasConcept C33923547 @default.
• W3127856408 hasConcept C41008148 @default.
• W3127856408 hasConcept C47446073 @default.
• W3127856408 hasConcept C62520636 @default.
• W3127856408 hasConcept C6557445 @default.
• W3127856408 hasConcept C86803240 @default.
• W3127856408 hasConcept C88337583 @default.
• W3127856408 hasConceptScore W3127856408C112680207 @default.
• W3127856408 hasConceptScore W3127856408C121332964 @default.
• W3127856408 hasConceptScore W3127856408C126255220 @default.
• W3127856408 hasConceptScore W3127856408C1276947 @default.
• W3127856408 hasConceptScore W3127856408C13662910 @default.
• W3127856408 hasConceptScore W3127856408C154945302 @default.
• W3127856408 hasConceptScore W3127856408C157972887 @default.
• W3127856408 hasConceptScore W3127856408C158622935 @default.
• W3127856408 hasConceptScore W3127856408C172205157 @default.
• W3127856408 hasConceptScore W3127856408C203479927 @default.
• W3127856408 hasConceptScore W3127856408C2524010 @default.
• W3127856408 hasConceptScore W3127856408C26405456 @default.
• W3127856408 hasConceptScore W3127856408C2775924081 @default.
• W3127856408 hasConceptScore W3127856408C2778530986 @default.
• W3127856408 hasConceptScore W3127856408C33923547 @default.
• W3127856408 hasConceptScore W3127856408C41008148 @default.
• W3127856408 hasConceptScore W3127856408C47446073 @default.
• W3127856408 hasConceptScore W3127856408C62520636 @default.
• W3127856408 hasConceptScore W3127856408C6557445 @default.
• W3127856408 hasConceptScore W3127856408C86803240 @default.
• W3127856408 hasConceptScore W3127856408C88337583 @default.
• W3127856408 hasLocation W31278564081 @default.
• W3127856408 hasOpenAccess W3127856408 @default.
• W3127856408 hasPrimaryLocation W31278564081 @default.
• W3127856408 hasRelatedWork W2013336954 @default.
• W3127856408 hasRelatedWork W2051522541 @default.
• W3127856408 hasRelatedWork W2102107146 @default.
• W3127856408 hasRelatedWork W2151321622 @default.
• W3127856408 hasRelatedWork W2221752174 @default.
• W3127856408 hasRelatedWork W2286582234 @default.
• W3127856408 hasRelatedWork W2333842241 @default.
• W3127856408 hasRelatedWork W2577645868 @default.
• W3127856408 hasRelatedWork W2581118410 @default.
• W3127856408 hasRelatedWork W2884545005 @default.
• W3127856408 hasRelatedWork W2965732094 @default.
• W3127856408 hasRelatedWork W2972662167 @default.
• W3127856408 hasRelatedWork W2973068080 @default.
• W3127856408 hasRelatedWork W3000119253 @default.
• W3127856408 hasRelatedWork W3091686100 @default.
• W3127856408 hasRelatedWork W3138928445 @default.
• W3127856408 hasRelatedWork W3185626836 @default.
• W3127856408 hasRelatedWork W3186528947 @default.

• next