A path following controller is proposed to force an underactuated surface ship which is suffering from disturbance to follow a predefined path.The controller is based on analytic model predictive control and unscented...A path following controller is proposed to force an underactuated surface ship which is suffering from disturbance to follow a predefined path.The controller is based on analytic model predictive control and unscented Kalman filter(UKF) techniques.The analytic model predictive control provides a systematic method to get appropriate controller parameters to guarantee the stability of the closed-loop system,and the well-defined relative degree is guaranteed by introducing output-redefinition.The UKF is used to estimate the states and uncertain parameters due to time-varying added mass matrices.With help of the proposed UKF-based controller,the underactuated ship with time-varying parameters can follow a desired straight path.Simulation results are presented to demonstrate the effectiveness of the proposed controller.展开更多
基金the National Natural Science Foundation of China (No. 50779033)the National High Technology Research and Development Program (863) of China (No. 2007AA11Z250)
文摘A path following controller is proposed to force an underactuated surface ship which is suffering from disturbance to follow a predefined path.The controller is based on analytic model predictive control and unscented Kalman filter(UKF) techniques.The analytic model predictive control provides a systematic method to get appropriate controller parameters to guarantee the stability of the closed-loop system,and the well-defined relative degree is guaranteed by introducing output-redefinition.The UKF is used to estimate the states and uncertain parameters due to time-varying added mass matrices.With help of the proposed UKF-based controller,the underactuated ship with time-varying parameters can follow a desired straight path.Simulation results are presented to demonstrate the effectiveness of the proposed controller.
