Adaptive Path Following Controller of Underactuated Ships Using Serret-Frenet Frame 被引量：2

Adaptive Path Following Controller of Underactuated Ships Using Serret-Frenet Frame

导出

摘要 This paper presents an adaptive path following control law to steer underactuated ships along a predefined path at a constant forward speed with uncertain parameters due to changes of added mass matrices.The proposed controller is based on analytic model predictive control and model reference adaptive control.The SerretFrenet frame is used to describe the ship dynamics.The analytic model predictive control provides a systematic method rather than try-and-error method to get appropriate control parameters to guarantee the stability of the closed-loop system,and the well-defined relative degree is guaranteed by introducing output-redefinition.An identification algorithm based on model reference adaptive control is used to identify the uncertain parameters.Numerical simulations are provided to demonstrate the validity of the proposed control law. This paper presents an adaptive path following control law to steer underactuated ships along a predefined path at a constant forward speed with uncertain parameters due to changes of added mass matrices. The proposed controller is based on analytic model predictive control and model reference adaptive control. The Serret- Frenet frame is used to describe the ship dynamics. The analytic model predictive control provides a systematic method rather than try-and-error method to get appropriate control parameters to guarantee the stability of the closed-loop system, and the well-defined relative degree is guaranteed by introducing output-redefinition. An identification algorithm based on model reference adaptive control is used to identify the uncertain parameters. Numerical simulations are provided to demonstrate the validity of the proposed control law.

作者王晓飞邹早建李铁山罗伟林

机构地区 School of Naval Architecture State Key Laboratory of Ocean Engineering

出处《Journal of Shanghai Jiaotong university(Science)》 EI 2010年第3期334-339,共6页 上海交通大学学报（英文版）

基金 the National Natural Science Foundation of China (No. 50779033) the National High Technology Research and Development Program (863) of China (No. 2007AA11Z250)

关键词 underactuated ship path following model predictive control Serret-Frenet frame underactuated ship, path following, model predictive control, Serret-Frenet frame

分类号 U661 [交通运输工程—船舶及航道工程]

引文网络
相关文献

参考文献9

1ZHANG R J, CHEN Y B, SUN Z Q, et al. Path control of a surface ship in restricted waters using slid- ing mode [J]. IEEE Transactions on Control Systems Technology, 2000, 8(4): 722-732.
2PETTERSEN K Y, LEFEBER E. Way-point tracking control of ships [C]//Proceedings of the 40th IEEE Conference on Decision and Control. Orlando, Florida, USA: IEEE, 2001: 940-945.
3SKJETNE R, FOSSEN T I. Nonlinear maneuvering and control of ships [C]// Proceedings of OCEANS 2001 MTS//IEEE Conference and Exhibition. Honolulu, HI, USA: IEEE, 2001: 1808-1815.
4Do K D, PAN J. State- and output-feedback robust path-following controllers for underactuated ships using Serret-Frenet frame [J]. Ocean Engineering, 2004, 31(5-6): 587-613.
5WANC X F. Study on path following control for underactuated ships by using analytic model predictive control [D]. Shanghai: School of Naval Architecture, Ocean and Civil Engineering, Shanghai Jiao Tong University, 2009.
6CHEN W H. Analytic predictive controllers for non-linear systems with ill-defined relative degree [J] IEEE Proceedings of Control Theory Application, 2001, 148(1): 9-15.
7CHEN W H, BALANCE D J, GAWTHROP P J. Optimal control of nonlinear systems: A predictive control approach [J]. Automatica, 2003, 39(4): 633-641.
8MRABET M, FNAIECH F. Nonlinear predictive adaptive controllers for nonlinear systems [C]// IEEE ISIE'04. Ajaccio, France: IEEE, 2004: 453-458.
9MRABET M, FNAIECH F. Convergence analysis of a nonlinear predictive adaptive controllers [C]// IEEE ISCCSP'2004. Hammamet, Tunisia: IEEE, 2004: 123- 126.