中国舰船研究2025，Vol.20Issue(1)：203-212,10.DOI:10.19693/j.issn.1673-3185.04255
基于神经动态优化与模型预测控制的欠驱动船舶精确路径跟踪
Precise path following of underactuated ship based on neurodynamic optimization and model predictive control
摘要
Abstract
[Objective]The traditional model predictive control method employs a repeated online optimiza-tion approach,resulting in a high computational burden for underactuated ship path-following predictive con-troller.To address this issue,this paper presents an efficient predictive controller for underactuated ship path following based on the neurodynamic optimization system.[Method]First,the line-of-sight(LOS)guid-ance principle is employed to mitigate the underactuated problem herein;for kinematic model uncertainty in traditional LOS guidance law,a robust LOS guidance method based on the sliding mode concept is proposed.Furthermore,the sideslip angle induced by external disturbances negatively affects path following.To com-pensate for this effect,a robust adaptive LOS guidance method is proposed,enhancing robustness against mod-el uncertainty and external disturbances.Second,in order to address the input saturation problem,the model predictive control is adopted herein to transform ship path following problem into the quadratic optimization problem with input constraints.Finally,the neurodynamic optimization solver is proposed based on the projec-tion recurrent neural network herein to solve the quadratic optimization problem with input constraints,enhan-cing the computational efficiency.[Results]In this study,both simulations for straight line path following and curved line path following are conducted.Overall,the simulation results show that the presented efficient predictive controller can achieve arbitrary path following.Additionally,the comparative simulations are per-formed,revealing that the presented method exhibits advantage in computational efficiency compared to the Fmincon optimization solver.Specifically,the neurodynamic optimization solver achieves approximately a 90-fold improvement in computational efficiency compared to the Fmincon optimization solver.[Conclusion]The research results have practical value for improving the real-time performance of under-actuated ship path following.In the future,the proposed real-time predictive control method will be extended to the application of multi-ship cooperative predictive control.关键词
无人船/运动控制/模型预测控制/路径跟踪/神经动态优化/鲁棒自适应视线制导/操纵性Key words
unmanned vehicles/motion control/model predictive control/path following/neurodynamic optimization/robust adaptive line-of-sight guidance/maneuverability分类
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史峻侨,刘程,郭玮丽,孙婷,王雪刚,徐锋..基于神经动态优化与模型预测控制的欠驱动船舶精确路径跟踪[J].中国舰船研究,2025,20(1):203-212,10.基金项目
国家自然科学基金资助项目(52101397) （52101397）
