Path following control of underactuated ships based on nonswitch analytic model predictive control

• 作 者: Xiaofei WANG Zaojian ZOU Tiesh
• 机 构: SchoolofNavalArchitecture,StateKeyLaboratoryofOceanEngineering
• 出 处: 控制理论与技术：英文版
• 发表日期: 2010年4期
• 关键词: 路径跟踪控制 模型预测控制 控制驱动 船舶 开关 非线性系统 跟踪控制器 最优控制律 Underactuated ship Path following Mod
• 基金项目: supported by the National Natural Science Foundation of China（No.50779033）, the National High Technology Research and Development Program（863 Program）of China（No.2007AA11Z250）

A path following controller is developed for underactuated ships with only surge force and yaw moment available to follow a predefined path.The proposed controller is based on nonswitch analytic model predictive control.It is shown that the optimal contro