Continuous predictive control based on dynamic surface design with application to trajectory tracking

摘要

In this paper, a novel dynamic surface control is developed by employing the nonlinear continuous predictive approach. The tracking error in the last subsystem is predicted by a functional expansion. To minimize the difference between the predicted and desired response, a control law for the continuous-time system is developed. The stability of the individual controller for the switching phases is discussed. Furthermore, the tracking error is proven to converge to the origin. The continuous predictive control approach based on dynamic surface control is applied to the tracking control of marine vehicles. The actual control in the corresponding subsystems is proposed based on the opti-mal cost function. By adjusting the weight matrix contained in the optimization performance index, control input in the initial stage can be guaranteed to meet the propelling capability. The proposed method is further applied to the marine vessel in the presence of unknown ocean current disturbance. Simulation studies demonstrate that the proposed control structures show outstanding performance and feasibility.