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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...
Autores principales: | , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
SAGE Publications
2023
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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 |
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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 |
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