Control Applications in Marine Robot Vehicles

This research paper focuses on the application of Model Predictive Control (MPC) on a 3-degree-of-freedom (DOF) Marine Robot (USV). Marine Robots are multivariable, nonlinear, and coupled systems. Controlling these vehicle trajectories is a challenging task for the researchers. The MPC control algorithm is designed such that USV can track a desired reference point. The efficiency of the MPC control algorithm on the USV is examined in the MATLAB environment. Using the MPC control method, results demonstrate that the USV can successfully track the desired reference point.