Daniel Jenkins

This is the Way: Mitigating the Roll of an Autonomous Uncrewed Surface Vessel in Wavy Conditions Using Model Predictive Control *

Though larger vessels may be well-equipped to deal with wavy conditions, smaller vessels are often more susceptible to disturbances. This paper explores the development of a nonlinear model predictive control (NMPC) system for Uncrewed Surface Vessels (USVs) in wavy conditions to minimize average ro…