Model predictive controller design with disturbance observer for path following of unmanned surface vessel

A model predictive controller with disturbance observer is presented to force an automated unmanned surface vessel (USV) to follow a reference path with environment disturbance. A full-scale trials by fully instrumented USV is carried out to identify the dynamic model. The Serret-Frenet frame is used to define the tracking error, therefore the position tracking errors can be stabilized by stabilizing the state of the control model to zero. And the constrained control input of the considered system is solved by minimizing performance based on model predictive control (MPC). Simulation and experiments results are presented to validate the effectiveness of the proposed method.

[1]  Yao Qiong-hui.  Design of sliding mode controllers for ship′s track-keeping control systems based on linearized models , 2007 .

[2]  Roger Skjetne,et al.  Nonlinear maneuvering and control of ships , 2001, MTS/IEEE Oceans 2001. An Ocean Odyssey. Conference Proceedings (IEEE Cat. No.01CH37295).

[3]  Antonio M. Pascoal,et al.  Nonlinear path following with applications to the control of autonomous underwater vehicles , 2003, 42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475).

[4]  Olav. Egelandg.  Exponential Stabilization of an Underactuated Surface VesselK , 1996 .

[5]  Peter J. Gawthrop,et al.  Nonlinear PID predictive controller , 1999 .

[6]  Kristin Y. Pettersen,et al.  Exponential Stabilization of an Underactuated Surface Vessel , 1997 .

[7]  Yang Yan.  Robust PID autopilot for ships , 1999 .

[8]  Liu Chuan.  Research on responding ship motion mathematical model , 2004 .

[9]  K. D. Do,et al.  Global path-following control of underactuated ships under deterministic and stochastic sea loads , 2015, Robotica.

[10]  Huang Guo-liang.  A Study of Sensitivity of Surface Ship Maneuverability , 2006 .

[11]  Kristin Y. Pettersen,et al.  Exponential stabilization of an underactuated surface vessel , 1996, Proceedings of 35th IEEE Conference on Decision and Control.

[12]  T. Holzhüter,et al.  LQG approach for the high-precision track control of ships , 1997 .

[13]  Eric Rogers,et al.  Model predictive control of a permanent magnet synchronous motor with experimental validation , 2013 .

[14]  Yang Yan-sheng.  A Robust Design Based on the Dissipation Theory for the Linear-Course Trajectory Control of Underactuated Ships , 2005 .

[15]  Yao Qiong.  A Study of Stability of Straight-line Tracking Control System for Underactuated Ship , 2007 .

[16]  Cheng Qi.  The Study on Development of the Control Techniques on Ship Autopilot , 2000 .

[17]  Thor I. Fossen,et al.  Guidance and control of ocean vehicles , 1994 .