Tube-based Model Predictive Control for Dynamic Positioning of Marine Vessels

被引：10

作者：

do Nascimento, Allan Andre ^{[1
]}

Feyzmahdavian, Hamid Reza ^{[2
]}

Johansson, Mikael ^{[1
]}

Garcia-Gabin, Winston ^{[2
]}

Tervo, Kalevi ^{[3
]}

机构：

[1] Royal Inst Technol, Stockholm, Sweden

[2] ABB Corp Res, Vasteras, Sweden

[3] ABB Marine & Ports, Helsinki, Finland

来源：

IFAC PAPERSONLINE | 2019年 / 52卷 / 21期

关键词：

Dynamic positioning; Model predictive control; Robust control; Invariant sets; SHIPS;

D O I：

10.1016/j.ifacol.2019.12.279

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 paper focuses on the design of a robust model predictive control law for dynamic positioning (DP) of marine vessels in the presence of actuator saturation and environmental disturbances. The proposed solution is a tube-based MPC ensuring robustness and constraint fulfillment. Formulation of the tube-based MPC relies on a sufficient robust invariant set condition, along with a linear matrix inequality (LMI) synthesis procedure, and an efficient analytical Pontryagin set difference computation. Simulation results show the effectiveness and satisfactory behaviour of the proposed controller. Copyright (C) 2019. The Authors. Published by Elsevier Ltd. All rights reserved.

引用

页码：33 / 38

页数：6

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