Path following control of underactuated ships based on nonswitch analytic model predictive control  

作　　者：Xiaofei WANG Zaojian ZOU Tieshan LI Weilin LUO 

机构地区：[1]School of Naval Architecture, Ocean and Civil Engineering, Shanghai Jiao Tong University, Shanghai 200240, China [2]State Key Laboratory of Ocean Engineering, Shanghai Jiao Tong University, Shanghai 200030, China

出　　处：《控制理论与应用（英文版）》2010年第4期429-434,共6页

基　　金：supported by the National Natural Science Foundation of China(No.50779033);the National High Technology Research and Development Program(863 Program)of China(No.2007AA11Z250)

摘　　要：A path following controller is developed for underactuated ships with only surge force and yaw moment available to follow a predefined path.The proposed controller is based on nonswitch analytic model predictive control.It is shown that the optimal control law for a nonlinear path following system with ill-defined relative degree is continuous and nonsingular.The problem of ill-defined relative degree is solved.The path-following ability of the nonlinear system is guaranteed.Numerical simulations are provided to demonstrate the effectiveness of the proposed control law.A path following controller is developed for underactuated ships with only surge force and yaw moment available to follow a predefined path.The proposed controller is based on nonswitch analytic model predictive control.It is shown that the optimal control law for a nonlinear path following system with ill-defined relative degree is continuous and nonsingular.The problem of ill-defined relative degree is solved.The path-following ability of the nonlinear system is guaranteed.Numerical simulations are provided to demonstrate the effectiveness of the proposed control law.

关 键 词：Underactuated ship Path following Model predictive control Ill-defined relative degree 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP273[自动化与计算机技术—控制科学与工程]