Application of MPC and sliding mode control to IFAC benchmark models
Application of MPC and sliding mode control to IFAC benchmark models
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发表时间：
2008-09
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通讯作者：
Meghan McGookin;David Anderson;E. McGookin
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作者：
Meghan McGookin;David Anderson;E. McGookin
对模型预测控制（MPC）和滑模控制（SMC）进行了比较。本文研究了每种控制器作为IFAC基准船模型（货船和油轮）导航系统的性能。在本研究中，导航系统参考期望的航向轨迹来调节两种类型的海洋船舶的航向角。在这项调查中，从MPC得到的结果进行比较，一个行之有效的控制方法，即滑模控制理论。波浪扰动和执行器限制的实施，以提供一个更现实的评估和比较所提出的控制结构。
The comparison of Model Predictive Control (MPC) and Sliding Mode Control (SMC) are presented in this paper. This paper investigates the performance of each controller as the navigation system for IFAC benchmark ship models (cargo vessel and oil tanker). In this investigation the navigation system regulates the heading angle of the two types of marine vessel with reference to a desired heading trajectory. In this investigation, the result obtained from MPC is compared with a well-established control methodology, namely Sliding Mode control theory. Wave disturbances and actuator limits are implemented to provide a more realistic evaluation and comparison for the proposed control structure.