Path following control of underactuated ships based on nonswitch analytic model predictive control

被引：6
|
作者：
Wang X. [1 ]
Zou Z. [1 ,2 ]
Li T. [1 ]
Luo W. [1 ]
机构：
[1] School of Naval Architecture, Ocean and Civil Engineering, Shanghai Jiao Tong University
[2] State Key Laboratory of Ocean Engineering, Shanghai Jiao Tong University
来源：
Journal of Control Theory and Applications | 2010年 / 8卷 / 04期
基金：
中国国家自然科学基金;
关键词：
Ill-defined relative degree; Model predictive control; Path following; Underactuated ship;
D O I：
10.1007/s11768-010-8240-x
中图分类号：
学科分类号：
摘要：
A path following controller is developed for underactuated ships with only surge force and yaw moment available to follow a predefined path. The proposed controller is based on nonswitch analytic model predictive control. It is shown that the optimal control law for a nonlinear path following system with ill-defined relative degree is continuous and nonsingular. The problem of ill-defined relative degree is solved. The path-following ability of the nonlinear system is guaranteed. Numerical simulations are provided to demonstrate the effectiveness of the proposed control law. © 2010 South China University of Technology and Academy of Mathematics and Systems Science, CAS and Springer-Verlag Berlin Heidelberg.
引用
收藏
页码：429 / 434
页数：5
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