【复现】非线性NMPC模型预测控制,无人舰艇轨迹跟踪避障Matlab代码复现文献:Real-Time Nonlinear Model Predictive Control of Unmanned Surface Vehicles for Trajectory Tracking and Collision Avoidance(1)一种约束三自由度动态无人潜航器的实时非线性模型预测控制(N