欠驱动水面船舶的轨迹跟踪模型预测控制器  

Trajectory Tracking Controller for Underactuated Surface Vessels Based on Model Predictive Control

作　　者：柳晨光[1,2,3] 初秀民[1,3] 王乐[1,3,4] 谢朔 吴青[1,3,4] 

机构地区：[1]武汉理工大学ITS智能交通系统研究中心,武汉430063 [2]武汉理工大学能源与动力工程学院,武汉430063 [3]武汉理工大学国家水运安全工程技术研究中心,武汉430063 [4]武汉理工大学物流工程学院,武汉430063

出　　处：《上海交通大学学报》2015年第12期1842-1848,1854,共8页Journal of Shanghai Jiaotong University

基　　金：国家自然科学基金项目(61273234);湖北省自然科学基金重点项目(2015CFA111)资助

摘　　要：针对在风、浪、流时变干扰下欠驱动水面船舶的轨迹跟踪控制问题,设计了一种基于模型预测控制的轨迹跟踪控制器.考虑到欠驱动船舶在没有横向驱动力情况下控制船舶纵向、横向和艏摇角3个自由度的运动,建立了仅有2个控制输入量且存在风、浪、流干扰下的非线性状态空间模型,在对模型近似线性化后应用线性模型预测控制方法设计出了一种考虑控制量极限约束、控制增量约束以及输出量约束的轨迹跟踪控制器.最后,在仿真环境下测试了系统对圆形轨迹的跟踪性能,并对约束进行了误差分析.结果表明,所设计的控制器能较好地满足跟踪性能,并能抵抗一定程度的环境干扰.Aimed at the time-varying disturbances induced by wind,current and waves,a trajectory tracking controller based on model predictive control（MPC）was designed.During the design,according to the need that the motion of under-actuated surface vessel would be controlled in three degree-of-freedom without the crosswise input,a state-space equation was built with only 2inputs under the disturbances induced by wind,current and waves.Then,a trajectory controller was proposed considering the constraint of input range,input increment range and trajectory range.Finally,the trajectory tracking performance was tested in simulation environment and the tracking errors were analyzed.The results show that the designed controller can force the vessel to track an ellipse trajectory regarding the disturbances.

关 键 词：欠驱动船舶 模型预测控制 轨迹跟踪 环境干扰 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]