Nonlinear Model Predictive Control with Terminal Invariant Manifolds for Stabilization of Underactuated Surface Vessel
A nonlinear model predictive control (MPC) is proposed for underactuated surface vessel (USV) with constrained invariant manifolds. Aimed at the special structure of USV, the invariant manifold under the given controller is constructed in terms of diffeomorphism and Lyapunov stability theory. Based...
Saved in:
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Wiley
2013-01-01
|
| Series: | Abstract and Applied Analysis |
| Online Access: | http://dx.doi.org/10.1155/2013/846389 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|