文献类型：期刊文献

英文题名：Event-triggered-based nonlinear model predictive control for trajectory tracking of underactuated ship with multi-obstacle avoidance

作者：Liu, Cheng[1];Hu, Qizhi[1];Wang, Xuegang[2];Yin, Jianchuan[3]

机构：[1]Dalian Maritime Univ, Coll Nav, Dalian 116026, Peoples R China;[2]CCCC Fourth Harbor Engn Inst Co Ltd, Guangzhou 510230, Peoples R China;[3]Guangdong Ocean Univ, Maritime Coll, Zhanjiang 524088, Peoples R China

年份：2022

卷号：253

外文期刊名：OCEAN ENGINEERING

收录：SCI-EXPANDED(收录号：WOS:000798110400003)、、EI(收录号：20221812049032)、Scopus(收录号：2-s2.0-85129069447)、WOS

基金：Acknowledgement This work is supported by the National Natural Science Foundation of China [grant numbers: 52101397, U1813203, U1801262, 51879024] ; Foundation for Dalian Distinguished Young Scholar [grant number 2020RQ014] ; the Natural Science Foundation of Liaoning [grant number 20180520034] ; the Postdoctoral Innovation Talent Support Plan [grant number BX201700041] ; and the Fundamental Research Funds of Central Universities [grant numbers 3132021131, 3132021139] .

语种：英文

外文关键词：Trajectory tracking; Obstacle avoidance; Event-triggered; Nonlinear model predictive control

外文摘要：Trajectory tracking and automatic obstacle avoidance are both cutting-edge problems in controlling under actuated ship; however, they have been generally studied separately due to its challenge in multiple control objectives with fewer actuators. Nevertheless, the obstacles are frequently in the way of trajectory tracking at sea; thus, a novel event-triggered-based nonlinear model predictive control (ENMPC) solution is, for the first time, presented for trajectory tracking of underactuated ship with multi-obstacle avoidance herein. Taking advantage of solving multi-objective control problem of nonlinear model predictive control, the trajectory tracking problem of underactuated ship is devised as an optimization problem. Then, the mechanism for automatic obstacle avoidance is established through designing the output constraints elaborately for the resultant optimization problem; considering the input saturation of ship, the problem of trajectory tracking of under actuated ship with multi-obstacle avoidance is naturally transformed into the optimization problem with input and output constraints herein. In order to improve the efficiency of nonlinear model predictive control, an event triggered control mechanism is designed, i.e., the optimization problem is only solved when the triggering condition is satisfied; to this end, the computational burden is reduced. Finally, comparative simulations are included to validate the effectiveness and advantage of the presented solution.