Path Following of Underactuated Ship Using Integral MPC and Robust Adaptive Line-of-Sight Guidance

Two critical issues concerning the path following of ship are addressed, namely, the guidance law and the controller in this paper. First, the robust adaptive line-of-sight (RALOS) guidance law is proposed to enhance the robustness to discrepancy of kinematics. Second, the accumulated error term is incorporated in the traditional model predictive controller to enhance the robustness to external disturbances, obtaining the integral model predictive control (IMPC). Third, a cascade system is composed by connecting the RALOS guidance law in series with the IMPC controller, and the path following is realized by indirect control of ship heading. The presented RALOS guidance-based IMPC is ultimately validated by various simulations.