Tahiyatul  Asfihani, S.  Subchan, Daniel  M. Rosyid, Aries  Sulisetyono, 
    Dubins Path Tracking Controller of USV using Model Predictive Control in Sea Field,
    Journal of Engineering and Applied Sciences,
    Volume 14,Issue 20,
    2019,
    Pages 7778-7787,
    ISSN 1816-949x,
    jeasci.2019.7778.7787,
    (https://makhillpublications.co/view-article.php?doi=jeasci.2019.7778.7787)
    Abstract: This study considers a USV controller for trajectory tracking. The USV moves along the trajectory
at constant forward speed with a measured disturbance. The input for the USV motion is the rudder angle. The
USV controller is obtained by using Robust Model Predictive Control. This study considers the sea wave as
a disturbance. The trajectory is generated by Dubins path. The computational results show that the robust MPC
can guide the ship to follow the trajectory and handle the disturbance. The performance of Robust MPC is
similar to the case of MPC when applied to a disturbance-free model.
    Keywords: Dubins path;USV;MPC;wave disturbance;computational results;trajectory