Journal of South China University of Technology(Natural Science Edition) ›› 2021, Vol. 49 ›› Issue (12): 143-152.doi: 10.12141/j.issn.1000-565X.210180

Special Issue: 2021年交通运输工程

• Traffic & Transportation Engineering • Previous Articles    

Model predicted control for underactuated ship path following based on extended state observer

XU Haixiang1 LI Chaoyi2 YU Wenzhao1 HAN Sumin2 WEI Yuefeng3 YANG Sujun3   

  1. 1. Key Laboratory of High Performance Ship Technology of Ministry of Education, Wuhan University of Technology, Wuhan 430063, Hubei, China; 2. School of Transportation, Wuhan University of Technology, Wuhan 430063, Hubei, China；3.  Science and Technology on Water Jet Propulsion Laboratory, Marine Design and Research Institute of China, Shanghai 200011, China
  • Received:2021-04-01 Revised:2021-05-10 Online:2021-12-25 Published:2021-12-01
  • Contact: 徐海祥（1975-），男，博士，教授，主要从事海洋智能装备与系统研究。 E-mail:qukaiyang@163.com
  • About author:徐海祥（1975-），男，博士，教授，主要从事海洋智能装备与系统研究。
  • Supported by:
    Supported by the National Natural Science Foundation of China(51879210,51979210)

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Abstract: Underactuated ships are facing problems of interference of time-varying multi-source disturbance and sudden changes in control force at the turning points during path following. Aiming at the above two problems, this paper proposed an optimal control method by combining the extended state observer with model predictive control. Firstly, the ESO extended state observer was designed to compensate for time-varying multi-source disturbance and provide low-frequency control input. Secondly, a nonlinear MPC controller was designed to optimize the control force. Finally, the stability of the ESO-MPC cascade controller was proved based on the nonlinear separation principle. The simulation comparison with active disturbance rejection control method and MPC control method verified the effectiveness of the proposed ESO-MPC cascade control method.


Key words:

ship path following, extended state observer, model predictive control, nonlinear separation principal, active disturbance rejection control

CLC Number: