文章基本信息

标题：Quasi Real-Time Optimal Control Scheme for Automatic Berthing
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作者：Naoki Mizuno ; Yosuke Uchida ; Tadatsugi Okazaki 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2015
卷号：48
期号：16
页码：305-312
DOI：10.1016/j.ifacol.2015.10.297
语种：English
出版社：Elsevier
摘要：AbstractIn this paper, a quasi real-time method applicable to minimum-time approaching control for automatic berthing is proposed. The proposed system is composed of a multiple shooting algorithm based optimal berthing solution generator and a nonlinear model predictive controller for tracking to the optimal trajectory. There are many researches for solving non-linear optimal control problem, but practically all the algorithms take long computational time to obtain the optimal solution compared with the controlling time. The multiple shooting algorithm can generates the approximate optimal solution considering the wind disturbance at the start point of the berthing, in a few minutes. It is about the same time for minimum-time berthing. From this point of view, the term “quasi real-time” is used in our paper title.
关键词：Key Wordsship controlautomatic berthingminimum-time controlmultiple shooting methodnonlinear model predictive controlreceding horizon contro