文章基本信息

标题：Tube-based Model Predictive Control for Dynamic Positioning of Marine Vessels
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作者：Allan Andre do Nascimento ; Hamid Reza Feyzmahdavian ; Mikael Johansson 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2019
卷号：52
期号：21
页码：33-38
DOI：10.1016/j.ifacol.2019.12.279
语种：English
出版社：Elsevier
摘要：This paper focuses on the design of a robust model predictive control law for dynamic positioning (DP) of marine vessels in the presence of actuator saturation and environmental disturbances. The proposed solution is a tube-based MPC ensuring robustness and constraint fulfillment. Formulation of the tube-based MPC relies on a sufficient robust invariant set condition, along with a linear matrix inequality (LMI) synthesis procedure, and an efficient analytical Pontryagin set difference computation. Simulation results show the effectiveness and satisfactory behaviour of the proposed controller.
关键词：KeywordsDynamic positioningModel predictive controlRobust controlInvariant sets