基于最小二乘法的欠驱动水面船舶模型预测控制

针对欠驱动水面船舶轨迹跟踪控制问题，根据模型预测控制（Model Predictive Control，MPC）原理，提出一种基于参数化模型的非线性模型预测控制（Parameterized Model – Nonlinear Model Predictive Control，PM-NMPC）方法。采用最小二乘法对船舶的参数化模型进行辨识，设计PM-NMPC控制器。对环境干扰下的某集装箱船艏向角控制和轨迹跟踪进行试验，验证控制算法的有效性，并将该控制器与比例积分微分控制器（Proportional plus Integral plus Derivative controller，PID controller）进行对比。仿真结果表明，PM-NMPC控制器轨迹跟踪效果更好，对未知干扰具有更强的稳健性。

Model Predictive Control of Underactuated Surface Ship Based on Least Square Method

In view of the problem of trajectory tracking control of underactuated surface ship, based on the Model Predictive Control (MPC) principle, a Parameterized Model – Nonlinear Model Predictive Control (PM-NMPC) method is proposed. The parameterized model of the ship is identified with least square method, and the PM-NMPC controller is designed. The heading angle control and trajectory tracking of a container ship under the environmental interference are tested to verify the effectiveness of control algorithm, and the controller is compared with the Proportional plus Integral plus Derivative controller (PID controller). The simulation results show that the PM-NMPC is of better trajectory tracking effect and stronger robustness to the unknown interference.