文章基本信息

标题：Model Predictive Trajectory Tracking Control and Thrust Allocation for Autonomous Vessels ⁎
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作者：Ali Haseltalab ; Vittorio Garofano ; Maurits van Pampus 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2020
卷号：53
期号：2
页码：14532-14538
DOI：10.1016/j.ifacol.2020.12.1457
语种：English
出版社：Elsevier
摘要：AbstractThe maneuvering control of autonomous vessels has been under extensive investigations by academic and industrial communities since it is one of the primary steps towards enabling unmanned shipping. In this paper, a model predictive control (MPC) approach is presented for trajectory tracking control of vessels which takes into account the thrust allocation (TA) problem in the presence of rotatable thrusters. In this approach, the TA problem is formulated over a finite horizon and solved with regard to the power consumption, changes in the angle and speed of actuators, and the operating constraints. In the proposed control approach, several linearization techniques have been employed to enable the adoption of quadratic programming approaches for solving the MPC’s and TA’s optimization problems. The performance of the proposed approach is evaluated through several simulation experiments using a replica vessel model.
关键词：KeywordsAutonomous vesselsmodel predictive controlmaneuvering controlthrust allocationfeedback linearizationquadratic programming