This paper presents an adaptive path following control law to steer underactuated ships along a predefined path at a constant forward speed with uncertain parameters due to changes of added mass matrices.The proposed ...This paper presents an adaptive path following control law to steer underactuated ships along a predefined path at a constant forward speed with uncertain parameters due to changes of added mass matrices.The proposed controller is based on analytic model predictive control and model reference adaptive control.The SerretFrenet frame is used to describe the ship dynamics.The analytic model predictive control provides a systematic method rather than try-and-error method to get appropriate control parameters to guarantee the stability of the closed-loop system,and the well-defined relative degree is guaranteed by introducing output-redefinition.An identification algorithm based on model reference adaptive control is used to identify the uncertain parameters.Numerical simulations are provided to demonstrate the validity of the proposed control law.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This paper presents an adaptive path following control law to steer underactuated ships along a predefined path at a constant forward speed with uncertain parameters due to changes of added mass matrices.The proposed controller is based on analytic model predictive control and model reference adaptive control.The SerretFrenet frame is used to describe the ship dynamics.The analytic model predictive control provides a systematic method rather than try-and-error method to get appropriate control parameters to guarantee the stability of the closed-loop system,and the well-defined relative degree is guaranteed by introducing output-redefinition.An identification algorithm based on model reference adaptive control is used to identify the uncertain parameters.Numerical simulations are provided to demonstrate the validity of the proposed control law.
