欠驱动船舶路径跟踪的非线性模型预测控制.pdf

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1、第14卷第3期船舶力学V01．14No．32010年3月Joumal《ShipMechanic8Mar．2010Aniclem：1007—7294(2010)03—0217—11NonlinearModelPredictiVeControllerDesignforPathFollowingofUnderactuatedShips肌ⅣGXi∞币一￡，亿吖尼肌4一，厕U‰√i帆8一，￡UD形ei一轨岫(a·StateK．eyLaboraIoryof0ceanEngineering；b．sch00lofNavalArchitecture，0ceanaJldCivi王En百nee咖g，

2、ShanghaiJiao7rongUniVersity，Shanghai200030，China)Abstract：AnanalyticmodelpredictivecontrolIerispIesentedforpathfollowingofanunderactuatedshipmaneuVeringalongapredefinedpath．Themathematicalmodelofshipmotionisdescribedbyus．ingSerret—Frenetfhmeandtheoutput—rede6nitioni8introduced．Asaresult，thep

3、roblemofiⅡ一de．finedrelatiVede铲eeisaVoided，andtheoriginalsinde—inputmultipIe—output(SIMO)systemistrans．fo砷edintoanequiValentsinde—inputsinde—output(sIsO)system．TheproposedalgorithmprovidesasystematicmetllodtogetappropriatecontroIlerpammeterstogu踟nteethestabilityoft王leclosed—loopsystem．Numeric

4、alsimulationsdemonstratethevalidityoft}lepmposedcontroUer．KeywordS：underactllatedsIIip；pathfoUo谢ng；modeIpredic廿vecontroI；Serret—Frenetf．rameCLCn瑚mber：U661．32Documentcode：A1IntroductionRecently，pathf．0llowingofunderactuatedsud_aceshipshasreceivedincl．easingattentionf而mthecontrolcommunity．Path

5、f01lowingcontrolaimsatforcingavesseltofollowadesiredpath．hism01．esuitablef．0rpracticaIimplementationoftheguidanceandcontr01ofvehiclesthantrajectorytrackingwhichneedsasuitablevirtualvehicletogenerateareferencetrajec．tory．ThisproblemhasbeenstudiedextensiVelybyusingdif亿renttechniquesinpastyears

6、．Pathf01lowingcontrolalongstraightlineswasexploredbyPettersenandLefebe一11．Theyrede．finedtheoutputasacombinationofthecI．oss—trackeITorandtheheadingangleerror，andusedacascadeappI．oachandf．eedbacklinearizationtechniquetocontr01thec1．oss—tI．ackyandtheheadingan91eI少conVe唱ingtozeID．Zhangetal【2】add

7、l℃ssedthepathfollo洒ngcontrolprob．1eminrestrictedwatersbyusinginput—outputlinearizationandslidingmodeeontrolwhichproVidesrobustnessagainstenVironmentalchanges．AspointedoutbyDoandf'an【3J，somecon—Receiveddate：2008—10一09Fb岫daIionbm：SupportedbytIleNatio