基于 FTUDE 的事件触发 NMPC,用于输入约束条件下的动态定位船轨迹跟踪

IF 4.6 2区 工程技术 Q1 ENGINEERING, CIVIL Ocean Engineering Pub Date : 2024-11-15 DOI:10.1016/j.oceaneng.2024.119682
Qiang Ding, Fang Deng, Zhiyu Du, Shuai Zhang
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引用次数: 0

摘要

本研究探讨了动态定位船在输入约束、模型不确定性和时变环境干扰下的轨迹跟踪问题。首先,将动态定位(DP)船的非建模非线性动力学和外部扰动整合在一起作为叠加不确定性,并开发了基于积分滑动模式的定时不确定性和扰动估计器(FTUDE)来补偿叠加不确定性的影响。然后,在非线性模型预测控制中引入事件触发机制,建立了 DP 船舶的事件触发非线性模型预测控制(ENMPC)轨迹跟踪控制策略,在保证控制效果的同时减少了计算资源的消耗。研究证明了带有 FTUDE 的 ENMPC 的可行性和输入到状态的稳定性。对比仿真验证了所提方法的有效性和优越性。
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FTUDE based event-triggered NMPC for trajectory tracking of dynamic positioning ships under input constraints
This study investigates the trajectory tracking problem of dynamic positioning ships under input constraints, model uncertainties and time-varying environmental disturbances. Firstly, the unmodeled nonlinear dynamics of the dynamic positioning (DP) ship and the external disturbances are integrated together as lumped uncertainties, and a fixed-time uncertainty and disturbance estimator (FTUDE) based on an integral sliding mode is developed to compensate effects of the lumped uncertainties. Then, the event-triggered nonlinear model predictive control (ENMPC) trajectory tracking control strategy for DP ship is established by introducing the event-triggered mechanism into nonlinear model predictive control, which can reduce the computational resource consumption while ensuring control effectiveness. The feasibility and input-to-state stability of ENMPC with FTUDE have been proved. Comparison simulations have been conducted to validate the effectiveness and superiority of the proposed method.
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来源期刊
Ocean Engineering
Ocean Engineering 工程技术-工程:大洋
CiteScore
7.30
自引率
34.00%
发文量
2379
审稿时长
8.1 months
期刊介绍: Ocean Engineering provides a medium for the publication of original research and development work in the field of ocean engineering. Ocean Engineering seeks papers in the following topics.
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