Preview-Based Optimal Control for Trajectory Tracking of Fully-Actuated Marine Vessels

Xiaoling Liang, Jiang Wu, Hao Xie () and Yanrong Lu
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Xiaoling Liang: Maritime Engineering College, Dalian Maritime University, No. 1 Linghai Road, Dalian 116026, China
Jiang Wu: School of Mathematics and Physics, University of Science and Technology Beijing, No. 30 Xueyuan Road, Haidian District, Beijing 100083, China
Hao Xie: School of Mathematics and Statistics, Chongqing Technology and Business University, Chongqing 400067, China
Yanrong Lu: College of Electrical and Information Engineering, Lanzhou University of Technology, Lanzhou 730050, China

Mathematics, 2024, vol. 12, issue 24, 1-21

Abstract: In this paper, the problem of preview optimal control for second-order nonlinear systems for marine vessels is discussed on a fully actuated dynamic model. First, starting from a kinematic and dynamic model of a three-degrees-of-freedom (DOF) marine vessel, we derive a fully actuated second-order dynamic model that involves only the ship’s position and yaw angle. Subsequently, through the higher-order systems methodology, the nonlinear terms in the system were eliminated, transforming the system into a one-order parameterized linear system. Next, we designed an internal model compensator for the reference signal and constructed a new augmented error system based on this compensator. Then, using optimal control theory, we designed the optimal preview controller for the parameterized linear system and the corresponding feedback parameter matrices, which led to the preview controller for the original second-order nonlinear system. Finally, a numerical simulation indicates that the controller designed in this paper is highly effective.

Keywords: trajectory tracking; marine vessel; preview control; fully-actuated system (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2024
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