智能船舶路径跟踪自抗扰模型预测控制  

Auto disturbance rejection model predictive control for intelligent ship'path following

作　　者：余文曌 韩素敏 徐海祥[1,2] 魏跃峰 YU Wenzhao;HAN Sumin;XU Haixiang;WEI Yuefeng(School of Naval Architecture,Ocean and Energy Power Engineering,Wuhan University of Technology,Wuhan 430063,China;Key Laboratory of High Performance Ship Technology of Ministry of Education,Wuhan University of Technology,Wuhan 430063,China;Key Laboratory of Science and Technology on Water Jet Propulsion,Marine Design and Research Institute of China,Shanghai 20001l,China)

机构地区：[1]武汉理工大学船海与能源动力工程学院,湖北武汉430063 [2]武汉理工大学高性能船舶技术教育部重点实验室,湖北武汉430063 [3]中国船舶及海洋工程设计院喷水推进技术重点实验室,上海200011

出　　处：《华中科技大学学报（自然科学版）》2023年第4期55-61,共7页Journal of Huazhong University of Science and Technology(Natural Science Edition)

基　　金：国家自然科学基金资助项目(52201373);湖北省自然科学基金资助项目(2022CFB794);海南省科技计划资助项目(2021CXLH0016)。

摘　　要：针对智能船舶在航行过程中为抵抗多源时变环境干扰与模型不确定性的影响,常引起控制力发生突变,致使执行装置难以响应、船舶无法准确跟踪期望路径的问题,提出了一种自抗扰模型预测控制算法.该方法基于自抗扰控制思想,设计修改型扩张状态观测器(MESO)对系统的状态和总未知扰动进行估计,并基于估计值设计鲁棒补偿的模型预测控制算法(RC-MPC).本文方法基于MESO,将复杂的船舶路径跟踪系统转化为含有干扰的线性仿射系统;同时,为避免鲁棒模型预测控制导致结果保守,设计了观测误差鲁棒补偿算法,提高了控制器的干扰抑制能力,增强了系统对模型失配的鲁棒性.结果证明了该自抗扰模型预测控制级联系统具有全局一致渐近稳定性,仿真实验验证了算法的有效性.During the voyage of the intelligent ships,to resist the influence of multi-source time-varying environmental interferences and model uncertainties,the control forces are often suddenly changed,which makes it difficult for the actuators to respond,and the ship cannot accurately follow the desired path.In response to the above problem,an auto disturbance rejection model predictive control algorithm was proposed.The algorithm was based on the idea of active disturbance rejection control,a modified extended state observer(MESO)was designed to estimate the states and the total unknown disturbances of the system,and a robust compensation model predictive control(RC-MPC)algorithm was designed based on the estimated values.By using MESO,the complex ship path-following system is transformed into a linear affine system with interferences.Meanwhile,to avoid the conservative results caused by the robust model redictive control,a robust compensation algorithm for observation errors was designed,which improved the controlle's interference suppression capability and enhanced the system's robustness to model mismatch.Results proved that the active disturbance rejection model predictive control cascade system had global uniform asymptotic stability,and the effectiveness of the algorithm was verified by simulation experiments.

关 键 词：智能船舶 自抗扰 模型预测控制 欠驱动船舶 路径跟踪 级联系统稳定性 鲁棒补偿 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]