Shineng Deng

Fault-Tolerant Model Predictive Control for Safety of Unmanned Surface Vessels Berthing under Multimodal disturbances and Various Constraints

Autonomous berthing is a typical task for maritime operations of unmanned surface vessels (USVs). However, during the berthing operations, USVs are subject to multimodal disturbances, such as external ocean disturbances (EODs) and internal thruster faults (ITFs), as well as various constraints, incl