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Flatness-based MPC for underactuated surface vessels in confined areas
A two-phase model predictive controller (MPC) is proposed for underactuated surface vessel operation in confined environments.
Optimal Trajectory Planning and Model Predictive Control of Underactuated Marine Surface Vessels using a Flatness-Based Approach
This paper demonstrates a refined approach to solving dynamic optimization problems for underactuated marine surface vessels.
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