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首页> 外文会议>ASME International Conference on Ocean, Offshore and Arctic Engineering >PATH FOLLOWING AND COLLISION AVOIDANCE OF UNDERACTUATED MARINE VESSELS BASED ON MPC DESIGN
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PATH FOLLOWING AND COLLISION AVOIDANCE OF UNDERACTUATED MARINE VESSELS BASED ON MPC DESIGN

机译：基于MPC设计的乏力舰船路径跟踪与避碰。

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摘要

Path following of underactuated marine vessels is a fundamental marine practice in shipping industry. However, the collision avoidance, which is frequently encountered during the process of path following of ships sailing in seaways, is neglected in traditional studies of path following. In this paper, a novel control design for path following with auxiliary system for collision avoidance is presented. Taking advantage of the capability of dealing with multi-variable system with the constraints, the model predictive control (MPC) method is employed to deal with the input saturation (rudder) and underactuated problem. Furthermore, the parallel computational nature of projection neural network (PNN) is included to reduce the computational burden of traditional MPC technique and make the control design more efficient. Simulations are conducted to validate the effectiveness and efficiency of the proposed control design.
机译：欠驱动的海船的路径跟踪是航运业的基本海上实践。但是，在传统的航迹研究中忽略了在海上航行的航船的航迹过程中经常遇到的避免碰撞。在本文中，提出了一种新颖的路径跟踪控制设计，并带有辅助系统来避免碰撞。利用具有约束条件的多变量系统的处理能力，采用模型预测控制（MPC）方法来处理输入饱和（方向舵）和驱动不足问题。此外，包括投影神经网络（PNN）的并行计算性质，以减轻传统MPC技术的计算负担，并使控制设计更高效。进行仿真以验证所提出的控制设计的有效性和效率。

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