Adaptive path following controller of underactuated ships using Serret-Frenet frame

作者：Wang, Xiao Fei^*; Zou, Zao Jian; Li, Tie Shan; Luo, Wei Lin

来源：Journal of Shanghai Jiaotong University (Science), 2010, 15(3): 334-339.

DOI：10.1007/s12204-010-1013-3

• Identification algorithms
• Path following
• Path following control
• Path following controller
• Serret-Frenet frame
• Try and Error method
• Uncertain parameters
• Underactuated ships

This paper presents an adaptive path following control law to steer underactuated ships along a predefined path at a constant forward speed with uncertain parameters due to changes of added mass matrices. The proposed controller is based on analytic model predictive control and model reference adaptive control. The Serret-Frenet frame is used to describe the ship dynamics. The analytic model predictive control provides a systematic method rather than try-and-error method to get appropriate control parameters to guarantee the stability of the closed-loop system, and the well-defined relative degree is guaranteed by introducing output-redefinition. An identification algorithm based on model reference adaptive control is used to identify the uncertain parameters. Numerical simulations are provided to demonstrate the validity of the proposed control law.

• 出版日期2010
• 单位上海交通大学