TY  - JOUR
T1  - Dubins Path Tracking Controller of USV using Model Predictive Control in Sea Field
AU - Asfihani, Tahiyatul AU - Subchan, S. AU - M. Rosyid, Daniel AU - Sulisetyono, Aries 
JO  - Journal of Engineering and Applied Sciences
VL  - 14
IS  - 20
SP  - 7778
EP  - 7787
PY  - 2019
DA  - 2001/08/19
SN  - 1816-949x
DO  - jeasci.2019.7778.7787
UR  - https://makhillpublications.co/view-article.php?doi=jeasci.2019.7778.7787
KW  - Dubins path
KW  -USV
KW  -MPC
KW  -wave disturbance
KW  -computational results
KW  -trajectory
AB  - This study considers a USV controller for trajectory tracking. The USV moves along the trajectory
at constant forward speed with a measured disturbance. The input for the USV motion is the rudder angle. The
USV controller is obtained by using Robust Model Predictive Control. This study considers the sea wave as
a disturbance. The trajectory is generated by Dubins path. The computational results show that the robust MPC
can guide the ship to follow the trajectory and handle the disturbance. The performance of Robust MPC is
similar to the case of MPC when applied to a disturbance-free model.
ER  -