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.
Model Predictive Control of Underactuated Surface Ship Based on Least Square Method
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.
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维普
