Bスプライン補間を用いた逐次軌道計画とモデル予測制御を併用した船舶の運動制御

抄録

In this paper, we discuss the motion control of underactuated ocean vehicles by using trajectory planning and trajectory tracking control. Important factors which greatly affect the control performance are their model errors, disturbances, obstacles, and actuator constraints. To solve these problems, we attempt to apply the B-spline interpolation method for trajectory planning and model predictive control for trajectory tracking control. We propose a new online control algorithm for the underactuated ocean vehicles and evaluate the performance of the proposed algorithm by numerical case studies.