Robust sliding mode model predictive control and thrust allocation methods for autonomous berthing of water-jet propulsion unmanned surface vehicles

IF 4.6 2区工程技术 Q1 ENGINEERING, CIVIL

Ocean Engineering Pub Date : 2025-04-22 DOI:10.1016/j.oceaneng.2025.121280

Jun-Tong Qi , Wen-Chong Liang , Wen-Bo Xie , Yan Peng

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引用次数: 0

Abstract

For the problem of berthing control of a water-jet unmanned surface vessel (USV), a sliding mode model predictive controller with thrusts allocation (TA) method is proposed in this paper. At first, considering the TA may not perfectly match the control commands, thus the errors between controller and TA are involved in the system model as uncertainties. Then a sliding mode control (SMC) approach is designed to guarantee the system stability when control input uncertainties exist. And a Lyapunov-based model predictive control (LMPC) is proposed to inherit the robust performance of the given SMC and incorporate certain control input constraints. For the TA module, actual physical constraints of the actuators are comprehensively considered, then the TA optimization problem is solved by interior point methods to close the system loop. Simulation results demonstrate the effectiveness of the proposed method for the water-jet propulsion USV to accomplish the autonomous berthing task.

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喷水推进无人水面航行器自主靠泊鲁棒滑模模型预测控制与推力分配方法

针对喷水无人水面船靠泊控制问题，提出了一种基于推力分配方法的滑模模型预测控制器。首先，考虑到TA可能不完全匹配控制命令，因此控制器与TA之间的误差作为不确定性参与到系统模型中。然后设计滑模控制（SMC）方法，保证系统在控制输入不确定性存在时的稳定性。提出了一种基于lyapunov的模型预测控制（LMPC），继承了给定SMC的鲁棒性，并加入了一定的控制输入约束。对于TA模块，综合考虑执行机构的实际物理约束条件，采用内点法求解TA优化问题，实现系统闭环。仿真结果验证了该方法对水射流推进型无人潜航器自主靠泊任务的有效性。

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来源期刊

Ocean Engineering 工程技术-工程：大洋

CiteScore

7.30

自引率

34.00%

发文量

2379

审稿时长

8.1 months

期刊介绍： Ocean Engineering provides a medium for the publication of original research and development work in the field of ocean engineering. Ocean Engineering seeks papers in the following topics.