Publication | Closed Access

Robust model predictive control for path-following of underactuated surface vessels with roll constraints

Trajectory PlanningEngineeringRoll ConstraintsMechanical EngineeringMechatronicsMechanical SystemsUnderactuated Surface VesselsSystems EngineeringAdvanced Motion ControlModel Predictive ControlKinematicsRoboticsTrajectory Optimization