Wen-Xuan Ma

Prediction-Error-Compensated Model Predictive Control with a Forgetting Factor for Ship Trajectory Tracking and Collision Avoidance

To improve the prediction reliability of model predictive control under model mismatch and environmental disturbances, this paper proposes a prediction-error-compensated MPC method with a forgetting factor for ship trajectory tracking and collision avoidance. The proposed method is developed within a Frenet-frame virtu...