解析模型预测控制在欠驱动船舶路径跟踪控制中的研究

The study of analytic model predictive control in path tracking control of underactuated ships

从非线性、欠驱动、船舶模型参数易控制的欠驱动船舶路径跟踪入手进行问题研究,采用解析模型预测控制,利用单输入单输出系统,通过对时域上的性能函数求导求得最优控制律;然后利用无干扰情况的船舶模型进行最优控制律的简化;最后通过实验进行验证本文算法与带反馈的线性欠驱动船舶直线路径跟踪控制相比趋于稳定的时间要短,可靠性和收敛性更优。

In this paper,Start from nonlinearity,underactuated,ship model parameters easy to control to study of path tracking underactuated ships. Use single-input single-output system analytic model predictive control. Performance function derivation obtained optimal control law the time domain. Then use a ship without interference to simplify the model of optimal control law. Finally,the proposed method by experimental verification of stabilizing time is shorter,better reliability and convergence,compared to linear underactuated ship straight path tracking control with feedback.