Pushing the boat off its plan
Twelve copies of the boat follow the final iLQR docking plan and each receives a different push at 2 s. On the left they replay the planned thrusts; on the right they apply the local feedback u = ūt + Kt(x − x̄t). The shaded band is the tube traced by the feedback runs after the small pushes.
Loading recorded trajectories…
Recorded deterministic simulations of the simplified boat model; nothing is recomputed in the browser. Feedback thrusts are clipped to the thruster limits. Boats outside the tube are dashed. With the larger pushes, the feedback asks for more thrust than the thrusters can give and the linear model stops being accurate, so some boats leave the tube: the gains only describe a neighborhood of the plan.