Rudder Roll Stabilization with Sliding Mode MPC Cascade Control Based on Extended State Observer
In order to solve the problem that the underactuated ship responds slowly to heading change during rudder roll stabilization by using fixed weight model predictive control.Rudder roll stabilization(RRS)control method based on fuzzy extended states observer(FESO)and cascade control which contain sliding mode control and model predictive control is proposed.A 3-DOF linear underactuated ship motion model is established for study.The FESO is designed to estimate ship motion states and external disturbances.The FESO is designed to estimate ship motion states and external disturbances.A discrete adaptive sliding mode control(DASMC)is designed as an outer loop of the cascade control to control the course of the vessel.By using the control laws of the outer loop as the desired control laws,a model predictive control is designed as an inner loop of the cascade control to stabilize roll motion of the vessel.By analyzing heading errors and conditions of the vessel.The fuzzy rules which can change the objective function weights of the MPC during different conditions are designed.The convergence of the observer and the closed-loop stability of the proposed control method are proven theoretically.According to the numerical simulation on a multi-purpose naval vessel,the roll stabilization rate of the proposed control method ensures the roll reduction effect during ship heading changing.Compared with fixed weight linear MPC,The response time of the proposed method for 30° heading change is less than the fixed weight linear MPC.It is proved that the proposed method can effectively improve the steering response of underactuated vessel during rudder roll stabilization.
underactuated shiprudder roll stabilization(RRS)fuzzy extended state observer(FESO)model predictive control(MPC)sliding mode control
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