リー代数MPCによる自律海洋ビークルの凸幾何学的軌道追従
Convex Geometric Trajectory Tracking using Lie Algebraic MPC for Autonomous Marine Vehicles
リー群上の凸誤差状態MPCを用いて海洋ビークルの軌道追従制御を効率化し、非線形MPCより計算時間を大幅に削減した。
著者: Junwoo Jang, Sangli Teng, Maani Ghaffari
分類: cs.RO
原文アブストラクト
Controlling marine vehicles in challenging environments is a complex task due to the presence of nonlinear hydrodynamics and uncertain external disturbances. Despite nonlinear model predictive control (MPC) showing potential in addressing these issues, its practical implementation is often constrained by computational limitations. In this paper, we propose an efficient controller for trajectory tracking of marine vehicles by employing a convex error-state MPC on the Lie group. By leveraging the inherent geometric properties of the Lie group, we can construct globally valid error dynamics and formulate a quadratic programming-based optimization problem. Our proposed MPC demonstrates effectiveness in trajectory tracking through extensive-numerical simulations, including scenarios involving ocean currents. Notably, our method substantially reduces computation time compared to nonlinear MPC, making it well-suited for real-time control applications with long prediction horizons or involving small marine vehicles.
