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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.
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 the 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 the parameters of the uncertainty 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.