Disturbance Compensating Model Predictive Control With Application to Ship Heading Control

被引：150

作者：

Li, Zhen ^{[1
]}

Sun, Jing ^{[1
]}

机构：

[1] Univ Michigan, Dept Naval Architecture & Marine Engn, Ann Arbor, MI 48109 USA

来源：

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY | 2012年 / 20卷 / 01期

关键词：

Disturbance estimation; model predictive control (MPC); ship heading control; state constraints; MARINE SURFACE VESSELS; SYSTEMS;

D O I：

10.1109/TCST.2011.2106212

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

To address the constraint violation and feasibility issues of model predictive control (MPC) for ship heading control in wave fields, a novel disturbance compensating MPC (DC-MPC) algorithm has been proposed to satisfy the state constraints in the presence of environmental disturbances. The capability of the novel DC-MPC algorithm is first analyzed. Then, the proposed DC-MPC algorithm is applied to solve the ship heading control problem, and its performance is compared with a modified MPC controller, which considers the estimated disturbance in the optimization directly. The simulation results show good performance of the proposed controller in terms of reducing heading error and satisfying yaw velocity and actuator saturation constraints. The DC-MPC algorithm has the potential to be applied to other motion control problems with environmental disturbances, such as flight, automobile, and robotics control.

引用

页码：257 / 265

页数：9

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