基于RMPC和横摇约束的欠驱动船路径跟踪控制  

Underactuated ship path following control based on RMPC and roll constraints

作　　者：王全胜 刘志全[1] 高妍南 WANG Quan-sheng;LIU Zhi-quan;GAO Yan-nan(Key Laboratory of Transport Industry of Marine Technology and Control Engineering,Shanghai Maritime University,Shanghai 201306,China;School of Electronic and Information Engineering,Guangdong Ocean University,Zhanjiang 524088,China)

机构地区：[1]上海海事大学航运技术与控制工程交通运输行业重点实验室,上海201306 [2]广东海洋大学电子与信息工程学院,广东湛江524088

出　　处：《控制与决策》2025年第4期1303-1311,共9页Control and Decision

基　　金：国家自然科学基金项目(52171313,52001197);湛江市海洋青年人才创新项目(2021E05002)。

摘　　要：基于自适应视线制导方法(ALOS)、有限时间扩张状态观测器(FTESO)和鲁棒模型预测控制(RMPC)提出一种基于横摇约束的船舶路径跟踪控制方法.ALOS通过路径点自动更新可接受半径,获得更灵活的机动性;FTESO用于船舶运动状态和外部干扰的估计,RMPC控制器设计中将输入约束、横摇约束和无限时域性能指标纳入优化目标,转化为线性矩阵不等式凸优化,进行多目标协同控制.根据Lyapunov稳定性理论和齐次理论,确保系统的闭环稳定性及有限时间内的收敛性.仿真结果表明,虽然经过极限角度时所提方法路径跟踪超调量略大,但所提方法减摇率为83.40%,与视线制导+模型预测控制(LOS+MPC)方法相比减摇率可提升51.28%,验证了所提控制方法的有效性和鲁棒性,可为欠驱动船舶舵减摇控制设计提供参考.A ship path following control method with roll constraints is proposed utilizing the adaptive line-of-sight(ALOS)method,finite time extended state observer(FTESO)and robust model predictive control(RMPC).The ALOS dynamically updates the acceptable radius through waypoints for more flexible maneuvering characteristics.The FTESO is deployed for estimating the ship motion states and external disturbances.In the design of the RMPC controller,input constraints,roll constraints,and infinite time domain performance indicators are integrated into the optimization objectives,reformulated as convex optimization problems expressed as linear matrix inequalities for multi-objective cooperative control.According to the Lyapunov stability theory and homogeneity theory,the closedloop stability and finite-time convergence of the system are ensured.Simulation results indicate that although the proposed method exhibits slightly larger overshoot in path following when reaching extreme angles,the roll reduction rate of the proposed method is 83.40%.Compared with the line-of-sight and model predictive control(LOS+MPC)method,the proposed method demonstrates a 51.28%improvement in roll reduction rate.The effectiveness and robustness of the proposed control method are verified,providing valuable references for the design of underactuated ship rudder roll stabilization controllers.

关 键 词：自适应视线制导 有限时间扩张状态观测器 鲁棒模型预测 横摇约束 

分 类 号：U664.82[交通运输工程—船舶及航道工程]