基于最小二乘法的欠驱动水面船舶模型预测控制
Model Predictive Control of Underactuated Surface Ship Based on Least Square Method
刘强 1刘西军 2程武伟1
作者信息
- 1. 浙江华东测绘与工程安全技术有限公司,浙江杭州 310014
- 2. 中国电建集团华东勘测设计研究院有限公司,浙江杭州 311122
- 折叠
摘要
针对欠驱动水面船舶轨迹跟踪控制问题,根据模型预测控制(Model Predictive Control,MPC)原理,提出一种基于参数化模型的非线性模型预测控制(Parameterized Model-Nonlinear Model Predictive Control,PM-NMPC)方法.采用最小二乘法对船舶的参数化模型进行辩识,设计PM-NM PC控制器.对环境干扰下的某集装箱船艏向角控制和轨迹跟踪进行试验,验证控制算法的有效性,并将该控制器与比例积分微分控制器(Proportional plus Integral plus Derivative cotroller,PID cotroller)控制器进行对比.仿真结果表明,PM-NMPC控制器轨迹跟踪效果更好,对未知干扰具有更强的稳健性.
Abstract
In view of the problem of trajectory tracking control of underactuated surface ship,based on the Model Predictive Control ( MPC ) principle,a Parameterized Model - Nonlinear Model Predictive Control ( PM-NMPC) method is proposed.The parameterized model of the ship is identified with least square method,and the PM-NMPC controller is designed.The heading angle control and trajectory tracking of a container ship under the environmental interference are tested to verify the effectiveness of control algorithm,and the controller is compared with the Proportional plus Integral plus Derivative controller ( PID controller).The simulation results show that the PM-NMPC controller is of better trajectory tracking effect and stronger robustness to the unknown interference.
关键词
欠驱动水面船舶/轨迹跟踪/模型预测控制/基于参数化模型的非线性模型预测控制/最小二乘法Key words
underactuated surface ship/trajectory tracking/Model Predictive Control(MPC)/Parameterized Model-Nonlinear Model Predictive Control(PM-NMPC)/least square method引用本文复制引用
出版年
2024
NETL
NSTL
维普
万方数据