基于解析模型预测控制的欠驱动船舶路径跟踪控制器设计

针对欠驱动船舶路径跟踪控制系统中存在风、浪、流等外界干扰的影响,将船舶运动模型转化到Serret-Frenet标架下进行研究,通过引入重定义输出将原单输入多输出控制系统转化为单输入单输出控制系统,并将解析模型预测控制与非线性观测器相结合,提出一种鲁棒路径跟踪控制算法。该算法能够使欠驱动船舶跟踪并镇定于给定的参考路径。计算机仿真结果表明,所提出的控制器具有良好的控制性能以及鲁棒性能。

Path Following Controller Design Ships by Using Analytic Model for Under-actuated Predictive Control

With respect to the disturbances induced by wind, waves and current, the path following system of under-actuated ships was studied in the Serret-Frenet frame. The output-redefinition technique was introduced to transform the SIMO system into SISO system. By combining the analytic model predictive control technique with nonlinear observer, the path following algo- rithm was proposed which is robust to environmental disturbances. Numerical simulation results were provided to validate the proposed control algorithm. It was shown that the proposed controller exhibits high effectiveness and good robustness to disturbances.