Safety-Guaranteed Ship Berthing Using Cascade Tube-Based Model Predictive Control

IF 4.9 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

IEEE Transactions on Control Systems Technology Pub Date : 2024-03-13 DOI:10.1109/TCST.2024.3374152

Changyu Lee;Quoc Van Tran;Jinwhan Kim

引用次数: 0

Abstract

This brief presents a cascade tube-based model predictive control (CTMPC) approach for safe ship berthing in the presence of unknown and bounded disturbances. The nonlinear dynamic model of a ship moving at low speeds is decomposed into a linear time-invariant (LTI) model for the surge system and a linear parameter-varying (LPV) model for the sway-yaw system, where the surge velocity is a scheduling parameter. The tube-based model predictive control (MPC) problems of these models are solved using the proposed CTMPC approach. The robust positively invariant (RPI) sets of the two subsystems and the geometry of the predefined separation area around the ship are considered to calculate the safe region of the ship under bounded disturbances. The proposed control architecture is shown to be both recursively feasible and stable, and simulation results are presented to verify its practical effectiveness.

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利用基于级联管的模型预测控制实现安全可靠的船舶靠泊

本文介绍了一种基于级联管的模型预测控制（CTMPC）方法，用于在存在未知和有界干扰的情况下实现船舶安全靠泊。低速行驶船舶的非线性动态模型被分解为浪涌系统的线性时不变（LTI）模型和摇摆-偏航系统的线性参数变化（LPV）模型，其中浪涌速度是一个调度参数。这些模型的基于管道的模型预测控制（MPC）问题采用所提出的 CTMPC 方法来解决。考虑了两个子系统的鲁棒正向不变量（RPI）集和船舶周围预定义分离区域的几何形状，以计算船舶在有界干扰下的安全区域。研究表明，所提出的控制结构既递归可行又稳定，并给出了仿真结果以验证其实际效果。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

IEEE Transactions on Control Systems Technology 工程技术-工程：电子与电气

CiteScore

10.70

自引率

2.10%

发文量

218

审稿时长

6.7 months

期刊介绍： The IEEE Transactions on Control Systems Technology publishes high quality technical papers on technological advances in control engineering. The word technology is from the Greek technologia. The modern meaning is a scientific method to achieve a practical purpose. Control Systems Technology includes all aspects of control engineering needed to implement practical control systems, from analysis and design, through simulation and hardware. A primary purpose of the IEEE Transactions on Control Systems Technology is to have an archival publication which will bridge the gap between theory and practice. Papers are published in the IEEE Transactions on Control System Technology which disclose significant new knowledge, exploratory developments, or practical applications in all aspects of technology needed to implement control systems, from analysis and design through simulation, and hardware.