Path Following of Underactuated Marine Vehicles Based on Model Predictive Control

摘要

Straight line path following of the underactuated ONR Tumblehomeship in the presence of ocean currents is studied. The MMG model isused to simulate the motion of the vehicle, a linearized model isconstructed for controller design. A guidance strategy combining theLine-of-Sight (LOS) and integral Line-of-Sight (ILOS) guidance isproposed to compensate the drift effect. Furthermore, to deal with thesaturation of rudder angle and limitation of maximum rudder rateexplicitly, the model predictive control (MPC) technology is adopted.Simulations are conducted, and the results show good path followingability and robustness of the guidance based MPC controller.