李荣辉,陈志娟,李宗宣,卜仁祥

• 1:大连海事大学航海学院
• 2:广东海洋大学海运学院

摘要(Abstract)：

【目的】解决具有外部受风流干扰和舵角输入受约束的欠驱动船舶路径跟踪问题。【方法】采用基于欧拉迭代的模型预测控制算法(MPC)对欠驱动船舶路径跟踪进行控制。【结果】MPC能够灵活地处理舵角输入受约束问题,欧拉迭代法离散和预测船舶未来状态可以简化MPC设计的运算。为弥补欧拉迭代法在精度上的不足,直接以分离型船舶模型(MMG)作为MPC的预测模型。应用径向基函数(RBF)神经网络历史信息训练实现对外界风流干扰的逼近及补偿。【结论】所设计的控制器可以使船舶在考虑风流干扰和舵角约束的情况下准确地跟踪上设定的路径,所提控制算法的有效性得到验证。

关键词(KeyWords)： 船舶路径跟踪;模型预测控制;欧拉迭代法;船舶运动控制

Abstract:

Keywords:

基金项目(Foundation): 国家自然科学基金(51979045,51939001,61976033);; 广东海洋大学科研启动经费

作者(Author): 李荣辉,陈志娟,李宗宣,卜仁祥

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