Zi-Xuan Gong

Gaussian-Process Model Predictive Trajectory Tracking Control for Unmanned Surface Vehicles Under Model Uncertainty

Model uncertainty and environmental disturbances can significantly degrade unmanned surface vehicle (USV) trajectory tracking when only a nominal kinematic model is used. This paper proposes a Gaussian-process model predictive control (GP-MPC) method for USVs under input-dependent disturbances. A three-degree-of-freedo...