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Path following control of underactuated ships based on nonswitch analytic model predictive control |
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| Authors: | Xiaofei WANG Zaojian ZOU Tieshan LI and Weilin LUO |
| Affiliation: | 1. School of Naval Architecture, Ocean and Civil Engineering, Shanghai Jiao Tong University, Shanghai 200240, China 2. School of Naval Architecture, Ocean and Civil Engineering, Shanghai Jiao Tong University, Shanghai 200240, China;State Key Laboratory of Ocean Engineering, Shanghai Jiao Tong University, Shanghai 200030, China |
| Abstract: | A path following controller is developed for underactuated ships with only surge force and yaw moment available to follow a predefined path. The proposed controller is based on nonswitch analytic model predictive control. It is shown that the optimal control law for a nonlinear path following system with ill-defined relative degree is continuous and nonsingular. The problem of ill-defined relative degree is solved. The path-following ability of the nonlinear system is guaranteed. Numerical simulations are provided to demonstrate the effectiveness of the proposed control law. |
| Keywords: | Underactuated ship Path following Model predictive control Ill-defined relative degree |
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