کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
5474179 1520647 2017 8 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Robust model predictive control for path-following of underactuated surface vessels with roll constraints
ترجمه فارسی عنوان
کنترل پیشگیرانه مدل مقاومتی برای دنبال کردن مسیرهای ناشی از سطوح سطحی با محدودیت های رول
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی مهندسی دریا (اقیانوس)
چکیده انگلیسی
Abrupt maneuvering or strong disturbances from sea waves probably lead to large roll motion of underactuated surface vessels, which severely affects stability of surface vessels. A novel path-following control for vessels with roll constraints is proposed by combining Kalman filter, disturbance observer and robust constrained model predictive control method. Firstly, a switched linear uncertain model with coupled surge, sway, roll and yaw is constructed for underactuated surface vessels. Then, an improved Sage-Husa Adaptive Kalman Filter is proposed to estimate vessels' full states by partial states information and eliminate the effects of measurement noises. Next, the disturbance observer, which is used to estimate low-frequency disturbances from wind, waves and oceans, is combined with constrained model predictive control to improve the robustness of the closed-loop control system. In this paper, the effectiveness of the proposed algorithm is verified by theoretical analysis, simulations and experiments.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Ocean Engineering - Volume 143, 1 October 2017, Pages 125-132
نویسندگان
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