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- W2510366912 abstract "The strong time-varying disturbances from sea waves such as wind, wave and current probably lead to large roll motion of marine surface vessels, which makes the roll angle out of the safety range. The roll motion severely affects the performance and stability of path following control system. A novel robust model predictive control (RMPC) method with roll constraints is proposed based on mixed H <sub xmlns:mml=http://www.w3.org/1998/Math/MathML xmlns:xlink=http://www.w3.org/1999/xlink>2</sub> / H <sub xmlns:mml=http://www.w3.org/1998/Math/MathML xmlns:xlink=http://www.w3.org/1999/xlink>∞</sub> control approach. The polyhedral model with coupled surge, sway, roll and yaw is constructed in different working ranges of the rudder angle. Then, RMPC method is proposed based on mixed H2 / H∞ control approach. The roll angle constraint, input constraints and performance index are transformed into the convex optimization of linear matrix inequalities (LMIs). The tight constraints of the invariant ellipsoid ensure the close loop system uniformly bounded. The simulation is provided to demonstrate the effectiveness of the proposed algorithm. The roll angle is in the constrained range and the control system has the robustness to reject time-varying disturbances." @default.
- W2510366912 created "2016-09-16" @default.
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- W2510366912 date "2016-05-01" @default.
- W2510366912 modified "2023-09-23" @default.
- W2510366912 title "Predictive control for straight path following of underactuated surface vessels with roll constraints" @default.
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- W2510366912 doi "https://doi.org/10.1109/ccdc.2016.7531053" @default.
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