Real-time model predictive line following control for underactuated marine vehicles

A linear model predictive control (LMPC) based framework is developed for underactuated marine vehicles' kinematic line following while moving at a constant depth in the presence of disturbance. LMPC is used as a high level controller which sets the reference surge and yaw velocities for the low level PID tracking controllers. Used ACADO optimization toolbox solves the optimal problem at hand in real-time. This framework has shown good results both in simulation environment and in on-sea experiments. (C) 2017, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.