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| Path following control of underactuated ships based on nonswitch analytic model predictive control |
| XiaofeiWANG,ZaojianZOU,TieshanLI,WeilinLUO |
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| (School of Naval Architecture, Ocean and Civil Engineering, Shanghai Jiao Tong University, Shanghai 200240, China;School of Naval Architecture, Ocean and Civil Engineering, Shanghai Jiao Tong University, Shanghai 200240, China; State Key Laboratory of Ocean Engineering, Shanghai Jiao Tong University, Shanghai 200030, China) |
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| 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. |
| 关键词: Underactuated ship Path following Model predictive control Ill-defined relative degree |
| DOI： |
| Received:December 23, 2008Revised:July 11, 2009 |
| 基金项目:This work was supported by the National Natural Science Foundation of China (No.50779033) and the National High Technology Research and Development Program (863 Program) of China (No.2007AA11Z250). |
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| Path following control of underactuated ships based on nonswitch analytic model predictive control |
| Xiaofei WANG,Zaojian ZOU,Tieshan LI,Weilin LUO |
| (School of Naval Architecture, Ocean and Civil Engineering, Shanghai Jiao Tong University, Shanghai 200240, China;School of Naval Architecture, Ocean and Civil Engineering, Shanghai Jiao Tong University, Shanghai 200240, China; State Key Laboratory of Ocean Engineering, Shanghai Jiao Tong University, Shanghai 200030, China) |
| Abstract: |
| 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. |
| Key words: Underactuated ship Path following Model predictive control Ill-defined relative degree |
