An Improved Model Predictive Control for Path-Following of USV Based on Global Course Constraint and Event-Triggered Mechanism

In this work we propose a solution to the Unmanned Surface Vessels (USV) path-following problem by suggesting an improved model predictive control (MPC) based on global course constraint (GCC) and event-triggered mechanism (ETM). The designed GCC guidance law incorporates LOS concept overcomes its lack of reference signal near waypoint. developed MPC controller involves ETM that ultimately optimizes deviation according prediction ability effect energy saving. We challenge our against current methods evaluation platform vessel “Yukun” Dalian Maritime University demonstrate effectiveness superiority suggested algorithm over existing methods.