文献类型：期刊文献

英文题名：Path following of underactuated surface ships based on model predictive control with neural network

作者：Li, Ronghui[1];Huang, Ji[2];Pan, Xinxiang[1];Hu, Qionglei[1];Huang, Zhenkai[1]

机构：[1]Guangdong Ocean Univ, Maritime Coll, Zhanjiang 524088, Peoples R China;[2]Guangdong Ocean Univ, Ocean Engn Coll, Zhanjiang, Peoples R China

年份：2020

卷号：17

期号：4

外文期刊名：INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS

收录：SCI-EXPANDED(收录号：WOS:000559046500001)、、EI(收录号：20203209030947)、Scopus(收录号：2-s2.0-85089145956)、WOS

基金：The author(s) disclosed receipt of the following financial support for the research, authorship, and/or publication of this article: This work was supported in part by the special projects of key fields (Artificial Intelligence) of Universities in Guangdong Province (2019KZDZX1035), Innovation and Entrepreneurship Team Guidance and Cultivation "Pilot Plan" of Zhanjiang City, the National Natural Science Foundation of China (nos 51979045, 51939001, and 61976033), and program for scientific research start-up funds of Guangdong Ocean University.

语种：英文

外文关键词：Model predictive control; path following; underactuated surface ships; neural network

外文摘要：A model predictive control approach is proposed for path following of underactuated surface ships with input saturation, parameters uncertainties, and environmental disturbances. An Euler iterative algorithm is used to reduce the calculation amount of model predictive control. The matter of input saturation is addressed naturally and flexibly by taking advantage of model predictive control. The mathematical model group (MMG) model as the internal model improves the control accuracy. A radial basis function neural network is also applied to compensate the total unknowns including parameters uncertainties and environmental disturbances. The numerical simulation results show that the designed controller can force an underactuated ship to follow the desired path accurately in the case of input saturation and time-varying environmental disturbances including wind, current, and wave.