Safety-Guaranteed Ship Berthing Using Cascade Tube-Based Model Predictive Control

被引：3
作者：
Lee, Changyu [1 ]
Tran, Quoc Van [2 ]
Kim, Jinwhan [1 ]
机构：
[1] Korea Adv Inst Sci & Technol KAIST, Dept Mech Engn, Mobile Robot & Intelligence Lab, Daejeon 34141, South Korea
[2] Hanoi Univ Sci & Technol HUST, Sch Mech Engn, Dept Mechatron, Hanoi 100000, Vietnam
来源：
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY | 2024年 / 32卷 / 04期
关键词：
Autonomous berthing; robust control; tube-based model predictive control (MPC); SYSTEMS;
D O I：
10.1109/TCST.2024.3374152
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This brief presents a cascade tube-based model predictive control (CTMPC) approach for safe ship berthing in the presence of unknown and bounded disturbances. The nonlinear dynamic model of a ship moving at low speeds is decomposed into a linear time-invariant (LTI) model for the surge system and a linear parameter-varying (LPV) model for the sway-yaw system, where the surge velocity is a scheduling parameter. The tube-based model predictive control (MPC) problems of these models are solved using the proposed CTMPC approach. The robust positively invariant (RPI) sets of the two subsystems and the geometry of the predefined separation area around the ship are considered to calculate the safe region of the ship under bounded disturbances. The proposed control architecture is shown to be both recursively feasible and stable, and simulation results are presented to verify its practical effectiveness.
引用
收藏
页码：1504 / 1511
页数：8
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