中国舰船研究2025，Vol.20Issue(1)：317-325,9.DOI:10.19693/j.issn.1673-3185.03629
基于MPC-IMFAC的船舶路径跟随控制方法研究
Ship path-following control method based on MPC-IMFAC
摘要
Abstract
[Objective]This study aims to solve the problem of path-following control under environ-mental disturbances and model uncertainties,especially the effects of external wind and wave environments.[Method]Based on a model predictive control(MPC)controller,improved model-free adaptive control(IMFAC)is introduced as the path following control compensator.The error between the ship's actual state and predicted state is corrected to solve the problem of the insufficient accuracy of the model under environ-mental disturbances such as sudden crosswinds and external wind waves,thereby improving the precision of path-following control.[Results]Ship path-following control simulation experiments are conducted with a scaled-down KVLCC2 ship model.As the results show,compared with traditional MPC control,the MPC-IM-FAC method reduces the maximum absolute heading error of the ship by 25.4%under sudden disturbances,and the average absolute heading error decreases by 2.6%under time-varying environmental disturbances.[Conclusion]The simulation results verify that this control method possesses superior anti-interference ability while ensuring path-following control accuracy.关键词
路径跟随控制/模型预测控制/无模型自适应控制/操纵性/运动控制/自适应控制系统Key words
tracking control/model predictive control(MPC)/model-free adaptive control(MFAC)/man-euverability/motion control/adaptive control systems分类
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李诗杰,刘泰序,刘佳仑,徐诚祺,何家伟..基于MPC-IMFAC的船舶路径跟随控制方法研究[J].中国舰船研究,2025,20(1):317-325,9.基金项目
国家重点研发计划资助项目(2022YFE0125200) （2022YFE0125200）
国家自然科学基金资助项目(62003250,52272425) （62003250,52272425）
