Speed and heading joint control of an unmanned sailboat based on NMPC

Kai Liu; Jiancheng Yu; Wentao Zhao; Yan Huang

doi:10.1117/12.3011337

1 December 2023 Speed and heading joint control of an unmanned sailboat based on NMPC

Kai Liu, Jiancheng Yu, Wentao Zhao, Yan Huang

Proceedings Volume 12940, Third International Conference on Control and Intelligent Robotics (ICCIR 2023); 129400K (2023) https://doi.org/10.1117/12.3011337
Event: Third International Conference on Control and Intelligent Robotics (ICCIR 2023), 2023, Sipsongpanna, China

Abstract

Aiming at the strong coupling of speed and heading control of unmanned sailboats, this study proposes joint control of the speed and heading of unmanned sailboats based on nonlinear model predictive control (NMPC). Different from the existing control methods, which only carry out maximum speed and heading separation control, this study proposes the joint control of unmanned sailboats at any speed based on NMPC. A 4-DOF dynamic model of the unmanned sailboat is used, and the roll angle is limited to prevent the unmanned sailboat from capsizing. Simulation experiments prove that the proposed method can realize the speed and heading joint control of unmanned sailboats, and the roll angle can be limited, preventing the unmanned sailboat from capsizing.

(2023) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Kai Liu, Jiancheng Yu, Wentao Zhao, and Yan Huang "Speed and heading joint control of an unmanned sailboat based on NMPC", Proc. SPIE 12940, Third International Conference on Control and Intelligent Robotics (ICCIR 2023), 129400K (1 December 2023); https://doi.org/10.1117/12.3011337

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