A trajectory tracking control method for underactuated surface ships based on model predictive control

Abstract

The invention relates to an under-actuated surface ship trace tracking control method based on model predication control, which can be used for obtaining optimized tracking performance for ensuring the stability of a system according to given performance indexes on the basis of meeting under-actuated system input and state constraints. The under-actuated surface ship trace tracking control methodcomprises the following steps: 1) projecting a trace tracking error model to a body coordinate system; designing by utilizing a Lyapunov direct method and a backstepping method and enabling tracking errors to be gradually close to a converged control rule; combining system constraints to solve a terminal invariant set; 2) acquiring a system state of a current moment and constructing an MPC (Multi-point Constraint) optimization problem containing terminal constraints of a limited time domain; 3) solving the MPC optimization problem and acquiring an optimal control sequence which is predicted atthe current moment; taking first optimal control to act on the system; 4) acquiring a new system state at a new sampling moment and updating the MPC optimization problem; carrying out rolling iteration until a tracking control process is finished. The method provided by the invention not only considers actual constraints of the system, but also can acquire optimized tacking performance by utilizing a relatively short predication time domain according to the given indexes.

Description

technical field [0001] The invention belongs to the technical field of surface ship motion control, in particular to an underactuated surface ship trajectory tracking control method based on model predictive control. Background technique [0002] As the main carrier platform for marine resource exploration, development and marine military applications, marine vehicles have played an extremely important role in both civilian and military applications due to their autonomy, intelligence, multi-function, and strong adaptability. The attention and attention of various developed countries. The main civilian applications are the exploration of marine resources, the survey of seabed topography, the detection of underwater equipment, and deep-sea salvage services. The main application in the military is to understand the underwater battlefield environment in advance (reconnaissance and detection in the theater), destroy enemy equipment and facilities, eliminate underwater dangers, ...

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Problems solved by technology

[0007] The purpose of the present invention is to provide a model predictive control method that can obtain stable and optimal control effects under the condition of satisfying the constraints, so as to solve the problem that the actual constraints and the given performance cannot be satisfied in the trajectory tracking control of the underactuated surface ship and the non-terminal constraint model It is difficult to ensure the stability of predictive control

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