Predictive control for straight path following of underactuated surface vessels with roll constraints

2016 ◽  
Author(s):  
Guosheng Li ◽  
Jun Zhang ◽  
Zhilin Liu ◽  
Liang Wang ◽  
Tairen Sun
Keyword(s):  
Predictive Control ◽  
Path Following ◽  
Straight Path ◽  
Surface Vessels ◽  
Underactuated Surface Vessels

scholarly journals Path following for underactuated surface vessels with disturbance compensating predictive control

2020 ◽  
Vol 17 (2) ◽  
pp. 172988142092003
Author(s):  
Zhilin Liu ◽  
Guosheng Li ◽  
Jun Zhang ◽  
Linhe Zheng
Keyword(s):  
Predictive Control ◽  
Disturbance Observer ◽  
Linear Models ◽  
External Disturbance ◽  
Path Following ◽  
Phase System ◽  
Analytical Control ◽  
Surface Vessels ◽  
Underactuated Surface Vessels ◽  
Heading Control

It is common that underactuated surface vessels sailing on the sea suffer from strong external sea disturbances, such that the large roll motion can be probably caused resulting to the bad performance of path following. In order to realize the coordinate control of the rudder roll stabilization and path following, a robust controller with roll constraints is designed by combining predictive control with disturbance observer. Firstly, the rudder angle operating range is divided in the Serret–Frenet coordination frame, and then linear models corresponding to different equilibrium can be established with heading control and roll dynamics. Secondly, considering external disturbance and unmodeled error as the lumped disturbances, the disturbance observer can be utilized to achieve the real-time feedforward compensation leading to the improved system robustness. Thirdly, the output redefinition method is adopted to transfer the original system into a new minimum phase system. Based on the receding horizon and state prediction strategies of the predictive control, the analytical control law can be obtained, and the linear programming method is used to guarantee the roll constraint for the simplified computational burden. Lastly, the simulations have been carried out to show the good performance of the proposed algorithm with the heading control and roll reduction.

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