Abstract
A path following controller is proposed to force an underactuated surface ship which is suffering from disturbance to follow a predefined path. The controller is based on analytic model predictive control and unscented Kalman filter (UKF) techniques. The analytic model predictive control provides a systematic method to get appropriate controller parameters to guarantee the stability of the closed-loop system, and the well-defined relative degree is guaranteed by introducing output-redefinition. The UKF is used to estimate the states and uncertain parameters due to time-varying added mass matrices. With help of the proposed UKF-based controller, the underactuated ship with time-varying parameters can follow a desired straight path. Simulation results are presented to demonstrate the effectiveness of the proposed controller.
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Foundation item: the National Natural Science Foundation of China (No. 50779033) and the National High Technology Research and Development Program (863) of China (No. 2007AA11Z250)
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Wang, Xf., Zou, Zj., Wang, Y. et al. Path following control of underactuated ships based on unscented Kalman filter. J. Shanghai Jiaotong Univ. (Sci.) 15, 108–113 (2010). https://doi.org/10.1007/s12204-010-8707-4
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DOI: https://doi.org/10.1007/s12204-010-8707-4