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A nonlinear model predictive control (MPC) is proposed for underactuated surface vessel (USV) with constrained invariant manifolds. Aimed at the special structure of USV, the invariant manifold under the given controller is constructed in terms of diffeomorphism and Lyapunov stability theory. Based on MPC, the states of the USV are steered into the constrained terminal invariant manifolds. After the terminal manifolds set is reached, a linear feedback control is used to stabilize the system. The simulation results verified the effectiveness of the proposed method. It is shown that, based on invariant manifolds constraints, it is easy to get the MPC for the USV and it is suitable for practical application

Nonlinear Model Predictive Control with Terminal Invariant Manifolds for Stabilization of Underactuated Surface Vessel