Path following of underactuated marine surface vessels using line-of-sight based model predictive control ☆
Path following of underactuated marine surface vessels using line-of-sight based model predictive control ☆
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DOI：
10.1016/j.oceaneng.2009.10.004
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发表时间：
2010-02
影响因子：
5
通讯作者：
So-Ryeok Oh;Jing Sun
中科院分区：
文献类型：
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作者：
So-Ryeok Oh;Jing Sun
针对输入受限的欠驱动水面船舶航路点跟踪问题，提出了一种模型预测控制方法。控制器设计采用了水面船舶的三自由度动力学模型。为了使控制动作呈现良好的舵手行为，MPC计划与视线（LOS）路径生成能力制定。二次规划（QP）是用来解决线性MPC通过连续线性化沿着的视线模型的水面舰艇。此外，我们表明，LOS决策变量可以纳入MPC的设计，以提高路径跟踪性能。所开发的控制律的有效性，通过计算机仿真证明。
This paper presents a model predictive control (MPC) for a way-point tracking of underactuated surface vessels with input constraints. A three-degree-of-freedom dynamic model of surface vessels has been used for the controller design. In order for the control action to render good helmsman behavior, a MPC scheme with line-of-sight (LOS) path generation capability is formulated. Quadratic programming (QP) is used to solve a linear MPC by successive linearization along the LOS model of the surface vessel. Furthermore, we show that an LOS decision variable can be incorporated into the MPC design to improve the path following performance. The effectiveness of the developed control law is demonstrated via computer simulations.