TY - JOUR
T1 - Nonlinear Model Predictive Trajectory Tracking Control of Underactuated Marine Vehicles
T2 - Theory and Experiment
AU - Liang, Haojiao
AU - Li, Huiping
AU - Xu, Demin
N1 - Publisher Copyright:
© 1982-2012 IEEE.
PY - 2021/5
Y1 - 2021/5
N2 - The article studies the trajectory tracking control problem of underactuated marine vehicles via the nonlinear model predictive control (NMPC) strategy, where practical control and state constraints present. It is a well-known challenging issue that the conventional NMPC is not applicable for underactuated marine vehicles, due to the fact that there does not exist a local static continuous state-feedback controller to stabilize the underactuated dynamics. To resolve this issue, this article proposes to construct an auxiliary time-varying tracking controller to aid terminal constraint design in the NMPC framework, where the time-varying tracking controller borrows the ideas from Lyapunov's direct method and backstepping approach. Based on this, a novel NMPC algorithm is designed to ensure trajectory tracking control of underactuated marine vehicles. Furthermore, a systematic parameter design approach is developed. Under the designed parameters, we show that the tracking error system is input-To-state stable (ISS). Finally, the effectiveness of the designed algorithm is verified by thorough simulation and hardware experiments.
AB - The article studies the trajectory tracking control problem of underactuated marine vehicles via the nonlinear model predictive control (NMPC) strategy, where practical control and state constraints present. It is a well-known challenging issue that the conventional NMPC is not applicable for underactuated marine vehicles, due to the fact that there does not exist a local static continuous state-feedback controller to stabilize the underactuated dynamics. To resolve this issue, this article proposes to construct an auxiliary time-varying tracking controller to aid terminal constraint design in the NMPC framework, where the time-varying tracking controller borrows the ideas from Lyapunov's direct method and backstepping approach. Based on this, a novel NMPC algorithm is designed to ensure trajectory tracking control of underactuated marine vehicles. Furthermore, a systematic parameter design approach is developed. Under the designed parameters, we show that the tracking error system is input-To-state stable (ISS). Finally, the effectiveness of the designed algorithm is verified by thorough simulation and hardware experiments.
KW - Marine vehicle control
KW - model predictive control
KW - tracking control
KW - underactuated dynamics
UR - http://www.scopus.com/inward/record.url?scp=85099371654&partnerID=8YFLogxK
U2 - 10.1109/TIE.2020.2987284
DO - 10.1109/TIE.2020.2987284
M3 - 文章
AN - SCOPUS:85099371654
SN - 0278-0046
VL - 68
SP - 4238
EP - 4248
JO - IEEE Transactions on Industrial Electronics
JF - IEEE Transactions on Industrial Electronics
IS - 5
M1 - 9069467
ER -