Proceedings of the Institution of Mechanical Engineers, Part M: Journal of Engineering for the Maritime Environment, Volume 240, Issue 1, Page 79-92, February 2026.
This paper proposes a novel nonlinear model predictive control (NMPC) strategy for cooperative path following of unmanned surface vehicles (USVs) and unmanned aerial vehicles (UAVs) formation, enhanced by a nonlinear disturbance observer (NDOB) to address ...