Model Predictive Control of Underactuated Surface Vessel with Invariant Manifolds Constraints

被引：0

作者：

Liu, Zhilin ^{[1
]}

Yu, Ruiting ^{[1
]}

Zhu, Qidan ^{[1
]}

机构：

[1] Harbin Engn Univ, Coll Automat, Harbin, Heilongjiang, Peoples R China

来源：

2010 8TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA) | 2010年

关键词：

Underactuated Surface Vessel; Diffeomorphism; Predictive Control; Invariant Manifolds; STABILIZATION;

D O I：

10.1109/WCICA.2010.5554089

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A model predictive control (MPC) is proposed for underactuated surface vessel (USV) with constrained invariant manifolds. Aimed at the special structure of USV, the invariant manifold underthe given controller is constructed in terms of diffeomorphism and Lyapunov stability theory. Based on the constrained invariant manifolds, a solution to make a nonliner model predictive controller is proposed. The simulation results verified the effectiveness of the proposed method. It is shown that, based on invariant manifolds constraints, it is easy to get the MPC for the USV and is suitable for practical application..

引用

页码：785 / 790

页数：6

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