Ship berthing based on event-triggered adaptive horizon MPC

被引：0
|
作者：
Yuan S.-Z. [1 ,2 ]
Liu Z.-L. [1 ,2 ]
Zheng L.-H. [3 ]
Sun Y.-X. [1 ,2 ]
机构：
[1] College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin
[2] Key Laboratory of Intelligent Technology, Application of Marine Equipment of Ministry of Education, Harbin Engineering University, Harbin
[3] Harbin Marine Boiler and Turbine Research Institute, Harbin
来源：
Kongzhi yu Juece/Control and Decision | 2024年 / 39卷 / 01期
关键词：
automatic berthing; event-triggered control; model predictive control; ship control; trajectory planning;
D O I：
10.13195/j.kzyjc.2022.0260
中图分类号：
学科分类号：
摘要：
Ships may be disturbed by various factors such as wind, waves, currents and shore wall effects in automatic berthing. Therefore, we design a ship automatic berthing controller based on event-triggered mechanism and model predictive control to solve the automatic berthing problem of fully actuated ships under the influence of model uncertainty, actuator saturation, unknown environmental disturbance and shore wall effect. Firstly, a three-degree-of-freedom model of the fully actuated ship is linearized and discretized, and out-of-berth stabilizing followed by parallel berthing is adopted according to the characteristics of the fully actuated ship. Then, an event-based adaptive horizon model predictive control scheme is proposed to improve the computational speed, and the proof of stability is also proven. Finally, simulation experiments are conducted on a fully actuated ship to compare the proposed control scheme with other known methods, and the experimental results show that the proposed control scheme not only significantly reduces the calculation time, but also has better control performance. © 2024 Northeast University. All rights reserved.
引用
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页码：336 / 344
页数：8
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