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• W3208483757 abstract "Abstract The trajectory tracking problem for a fully-actuated real-scaled surface vessel is addressed in this paper. The unknown hydrodynamic and propulsion parameters of the vessel’s dynamic model were identified using an experimental maneuver-based identification process. Then, a nonlinear model predictive control (NMPC) scheme is designed and the controller’s performance is assessed through the variation of NMPC parameters and constraints tightening for tracking a curved trajectory." @default.
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• W3208483757 date "2021-01-01" @default.
• W3208483757 modified "2023-10-16" @default.
• W3208483757 title "Trajectory Tracking of a Fully-actuated Surface Vessel using Nonlinear Model Predictive Control" @default.
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• W3208483757 doi "https://doi.org/10.1016/j.ifacol.2021.10.072" @default.
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