Path following of under-actuated ships based on model predictive control with state observer
Path following of under-actuated ships based on model predictive control with state observer
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DOI：
10.1007/s00773-020-00746-1
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发表时间：
2020-07-01
影响因子：
2.6
通讯作者：
Bu, Renxiang
中科院分区：
文献类型：
--
作者：
Li, Zongxuan;Li, Ronghui;Bu, Renxiang
针对欠驱动水面舰艇无速度测量时存在输入约束、参数不确定和外部干扰的航迹跟踪问题，提出了一种基于线性扩张状态观测器的模型预测控制方法.采用视线制导算法，将航迹跟踪问题灵活地转化为航向控制问题。通过可变可接受半径的方法，制定适当的参考路径的航路点。采用Norrbin模型作为内部模型的MPC方法解决了航向控制、舵幅和速率限制等输入约束问题。为了提高内模精度和控制器的鲁棒性，引入LESO估计不确定参数和外部干扰。此外，利用非线性观测器和LESO分别对纵荡速度、横荡速度和偏航角速度进行了估计。通过仿真比较，证明了所提出的控制律的有效性。
A model predictive control (MPC) method with linear extended state observer (LESO) is presented to address the problems of the input constraints, uncertain parameters and external disturbances for path following of under-actuated surface ships without velocity measurements. The line of sight (LOS) guidance algorithm is employed to convert the path following into the heading control flexibly. The proper reference paths at waypoints are formulated by a variable acceptable radius approach. The matters of the heading control, input constraints including rudder amplitude and rate limit are addressed by virtue of MPC method employing the Norrbin model as the internal model. The LESO is introduced to estimate the uncertain parameters and external disturbances for the improvement of the internal model accuracy and the controller robustness. Moreover, the nonlinear observer and LESO are used to approximate the surge velocity, sway velocity and yaw rate, respectively. The effectiveness of the proposed control law is demonstrated via the compared simulations.