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A statistical modeling and tracking control approach to marine vehicle

机译：海洋车辆的统计建模与跟踪控制方法

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For actualization of ship tracking control along a desired path with constant velocity, a statistical modeling method is proposed to represent the tracking dynamic behavior of ship. Firstly, a SISO RBF-ARX model is built for characterizing ship motion between heading angle deviation and rudder angle of ship. To represent ship motion's nonlinearity, rolling angle is used as the RBF-ARX model index to make the model parameters vary with ship moving state. The RBF-ARX model is identified off-line by using previously observed real data. Then, a state space model combined with the relationship between heading angle deviation and position tracking error of ship is proposed to represent ship tracking motion behavior. On the basis of the identified ship's state-space type tracking motion model, a predictive controller is designed to steer ship moving forward with constant velocity along a predefined reference path. The effectiveness of the modeling and control methods proposed in this paper is demonstrated by the tracking control simulation in which the modeling data is observed from a real experimental ship.
机译：为了实现沿着具有恒定速度的所需路径的船舶跟踪控制，提出了一种统计建模方法来表示船舶的跟踪动态行为。首先，建立了SISO RBF-ARX模型，用于表征船角偏差与船舵角度之间的船舶运动。要代表船舶运动的非线性，滚动角度用作RBF-ARX模型索引，以使模型参数随船舶移动状态而变化。 RBF-ARX模型通过使用先前观察到的真实数据识别离线。然后，提出了一种与船的标题角偏差和位置跟踪误差之间的关系结合的状态空间模型来表示船舶跟踪运动行为。在所识别的船的状态空间型跟踪运动模型的基础上，设计了一种预测控制器，用于沿着预定义的参考路径向前移动以恒定速度向前移动。本文提出的建模和控制方法的有效性通过跟踪控制模拟来证明，其中从真实的实验船观察到建模数据。

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