Model Predictive Control for Path Following of Ships with Constraints

摘要：

A model predictive controller is proposed for path following of survey ships with respect to control constraints. The control system is a typical nonlinear system which has characters such as strong nonlinear, environmental disturbances and control constraints. The proposed predictive control strategy can asymptotically stabilize ships onto the desired straight-line reference path. Numerical simulation results illustrate the validity of the designed controller and show that the proposed controller demonstrates high effectiveness and good robustness while satisfying the control input constrains.

关键词： Path following Model predictive control Nonlinear system Control constrains

作者: XU Hongchao HUANG Dan LI Shaoyuan

作者单位: Department of Automation, Shanghai Jiao Tong University, and Key Laboratory of System Control and In Department of Automation, Shanghai Jiao Tong University, and Key Laboratory of System Control and In

会议类型: 国内会议

会议名称: 第23届过程控制会议

会议地点: 厦门

会议语种:英文

页码: 1-6

在线出版日期: 2012-08-01（万方平台首次上网日期，不代表论文的发表时间）