Cargando…

Path following of under-actuated ships based on backstepping and predictive control method

To deal with the sideslip angle caused by the current disturbances or transverse motion for path following of under-actuated ships, a nonlinear observer established by an exponential function is introduced in the backstepping approach which converts the path following into heading control. Then, the...

Descripción completa

Detalles Bibliográficos
Autores principales: Liu, Yong, Li, Zongxuan, Liu, Jun
Formato: Online Artículo Texto
Lenguaje:English
Publicado: SAGE Publications 2023
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10469279/
https://www.ncbi.nlm.nih.gov/pubmed/37644846
http://dx.doi.org/10.1177/00368504231191407
_version_ 1785099407569453056
author Liu, Yong
Li, Zongxuan
Liu, Jun
author_facet Liu, Yong
Li, Zongxuan
Liu, Jun
author_sort Liu, Yong
collection PubMed
description To deal with the sideslip angle caused by the current disturbances or transverse motion for path following of under-actuated ships, a nonlinear observer established by an exponential function is introduced in the backstepping approach which converts the path following into heading control. Then, the model predictive control (MPC) method is used as a heading controller, addressing the rudder optimization. A linear extended state observer technology was exploited to estimate yaw rate, external disturbances, and internal uncertainties, which could avoid measuring the high-order state used in the MPC controller and promote the accuracy of the MPC internal model. Moreover, an inverse tangent function is applied to develop a new method for switching the reference heading angle to reduce rudder amplitude when the ship is choosing the next waypoint. Finally, the validity and reliability of the design method were verified through comparative computer simulation experiments.
format Online
Article
Text
id pubmed-10469279
institution National Center for Biotechnology Information
language English
publishDate 2023
publisher SAGE Publications
record_format MEDLINE/PubMed
spelling pubmed-104692792023-09-01 Path following of under-actuated ships based on backstepping and predictive control method Liu, Yong Li, Zongxuan Liu, Jun Sci Prog Engineering & Technology To deal with the sideslip angle caused by the current disturbances or transverse motion for path following of under-actuated ships, a nonlinear observer established by an exponential function is introduced in the backstepping approach which converts the path following into heading control. Then, the model predictive control (MPC) method is used as a heading controller, addressing the rudder optimization. A linear extended state observer technology was exploited to estimate yaw rate, external disturbances, and internal uncertainties, which could avoid measuring the high-order state used in the MPC controller and promote the accuracy of the MPC internal model. Moreover, an inverse tangent function is applied to develop a new method for switching the reference heading angle to reduce rudder amplitude when the ship is choosing the next waypoint. Finally, the validity and reliability of the design method were verified through comparative computer simulation experiments. SAGE Publications 2023-08-30 /pmc/articles/PMC10469279/ /pubmed/37644846 http://dx.doi.org/10.1177/00368504231191407 Text en © The Author(s) 2023 https://creativecommons.org/licenses/by-nc/4.0/This article is distributed under the terms of the Creative Commons Attribution-NonCommercial 4.0 License (https://creativecommons.org/licenses/by-nc/4.0/) which permits non-commercial use, reproduction and distribution of the work without further permission provided the original work is attributed as specified on the SAGE and Open Access page (https://us.sagepub.com/en-us/nam/open-access-at-sage).
spellingShingle Engineering & Technology
Liu, Yong
Li, Zongxuan
Liu, Jun
Path following of under-actuated ships based on backstepping and predictive control method
title Path following of under-actuated ships based on backstepping and predictive control method
title_full Path following of under-actuated ships based on backstepping and predictive control method
title_fullStr Path following of under-actuated ships based on backstepping and predictive control method
title_full_unstemmed Path following of under-actuated ships based on backstepping and predictive control method
title_short Path following of under-actuated ships based on backstepping and predictive control method
title_sort path following of under-actuated ships based on backstepping and predictive control method
topic Engineering & Technology
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10469279/
https://www.ncbi.nlm.nih.gov/pubmed/37644846
http://dx.doi.org/10.1177/00368504231191407
work_keys_str_mv AT liuyong pathfollowingofunderactuatedshipsbasedonbacksteppingandpredictivecontrolmethod
AT lizongxuan pathfollowingofunderactuatedshipsbasedonbacksteppingandpredictivecontrolmethod
AT liujun pathfollowingofunderactuatedshipsbasedonbacksteppingandpredictivecontrolmethod