Hardware-in-the-Loop Trajectory Tracking and Collision Avoidance of Automated Inland Vessels Using Model Predictive Control*.
2021 European Control Conference (ECC)（2021）
Key words
propulsion force,overactuated river ferry,feedback linearization,nonlinear model predictive control,customized dynamic model,hardware-in-the-loop test bench,river crossing,maximum horizontal tracking error,collision-free trajectory tracking,hardware-in-the-loop trajectory tracking,collision avoidance,automated inland vessels,advanced control algorithms,roughly planned trajectory,external disturbances,AKOON research project,size 5.0 m
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