Authors : Tahiyatul Asfihani, S. Subchan, Daniel M. Rosyid and Aries Sulisetyono
Abstract: This study considers a USV controller for trajectory tracking. The USV moves along the trajectory at constant forward speed with a measured disturbance. The input for the USV motion is the rudder angle. The USV controller is obtained by using Robust Model Predictive Control. This study considers the sea wave as a disturbance. The trajectory is generated by Dubins path. The computational results show that the robust MPC can guide the ship to follow the trajectory and handle the disturbance. The performance of Robust MPC is similar to the case of MPC when applied to a disturbance-free model.
Tahiyatul Asfihani, S. Subchan, Daniel M. Rosyid and Aries Sulisetyono, 2019. Dubins Path Tracking Controller of USV using Model Predictive Control in Sea Field. Journal of Engineering and Applied Sciences, 14: 7778-7787.