哈尔滨工程大学学报2016，Vol.37Issue(10)：1381-1386,1393,7.DOI:10.11990/jheu.201506058
带有UKF滚动时域估计的动力定位控制器
Dynamic positioning controller with UKF moving horizon estimation
摘要
Abstract
A design method for a dynamic positioning ( DP ) nonlinear controller was proposed for surface vessels suffering from random disturbance. This method combined a moving horizon estimation(MHE) based on the un⁃scented Kalman filtering and non⁃switching analytic model predictive control (MPC). MHE based on unscented Kalman filtering was applied to the design of nonlinear filter in accordance with the discrete model, which was transformed by the difference method. UKF was applied to the calculation of the arrival cost. Referring to the dy⁃namic model of a ship, non⁃switching analytic MPC was applied to design DP nonlinear controller of the marine DP . The proposed method was applied to the design of a supply marine DP controller. Simulation results show the effectiveness of the designed DP controller.关键词
动力定位/无迹卡尔曼滤波/滚动时域估计/到达代价/非线性控制器Key words
dynamic positioning/unscented Kalman filtering/moving horizon estimation/arrival cost/nonlinear controller分类
交通工程引用本文复制引用
苏义鑫,赵俊..带有UKF滚动时域估计的动力定位控制器[J].哈尔滨工程大学学报,2016,37(10):1381-1386,1393,7.基金项目
国家自然科学基金项目（61374151）；湖北省自然科学基金项目（2013CFB335）． （）
