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

A technology of model predictive control and control method, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problems that model predictive control is difficult to guarantee stability, practical constraints and given performance cannot be satisfied.

CN108897217BActive Publication Date: 2020-07-14NORTHWESTERN POLYTECHNICAL UNIV
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Publication Date
2020-07-14

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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.
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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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Embodiment Construction

[0073] Now in conjunction with embodiment, accompanying drawing, the present invention will be further described:

[0074] The principle of the underactuated surface ship trajectory tracking control method based on model predictive control proposed by the present invention is to project the tracking error model into the body coordinate system, and use the Lyapunov direct method and backstepping method to design the control that the tracking error asymptotically converges combined with system constraints to obtain a suitable terminal invariant set; sampling the system state at the current moment, constructing an MPC constrained optimization problem with terminal constraints in the finite time domain; solving the constrained optimization problem, and obtaining the optimal control sequence predicted at the current moment, the first An optimal control acts on the system; the new system state is obtained at the new sampling time and the MPC constraint optimization problem is updated...