Reducing Port-Related Truck Emissions: Coordinated Truck Appointments to Reduce Empty Truck Trips Frederik

Abstract

An autonomous vessel can improve the intelligence, efficiency and economy of shipping logistics. To realize autonomous navigation control of un- deractuated vessels (USVs), this paper presents a controller that can make USV track a reference trajectory with only 2 inputs, i.e., surge and yaw. A nonlinear state-space model with 2 inputs considering environmental disturbances in- duced by wind, current and waves for a 3 degree of freedom (DOF) surface ves- sel is considered. Based on this model, a trajectory tracking controller using Nonlinear Model Predictive Control (NMPC) is designed. System constraints on inputs, input increment and output are incorporated in the NMPC frame- work. Simulation results show that the controller can track an ellipse trajectory well and that the tracking errors are within acceptable ranges, while system constraints are satisfied.