Affiliation:
1. School of Mathematics and Statistics Science, Ludong University, Yantai, China
2. Hubei Key Laboratory of Inland Shipping Technology, Wuhan University of Technology, Wuhan, China
3. Ulshan Ship and Ocean College, Ludong University, Yantai, China
4. Marine Aerospace Equipment Technological Innovation Center, Ludong University, Yantai, China
Abstract
This paper proposes an adaptive generalized predictive control for dynamic positioning of ships with unknown model parameters and unknown time-varying environmental disturbances. The controlled auto-regressive integrated moving average (CARIMA) model is employed to describe the movements of ships with model parameter and disturbance uncertainties. The recursive least square method with forgetting factor is utilized to design adaptive laws to estimate the CARIMA model parameters online. Considering both the positioning accuracy and the change intensity of control increments, a cost function is constructed. The optimal control increments that minimize the cost function are obtained by using Lagrange multiplier method. Then, the adaptive control law is designed to maintain ship’s position and heading at desired values. Finally, simulation studies in different cases are carried out and simulation results demonstrate the effectiveness of the proposed control scheme.
Funder
Open Project Program of Shandong Marine Aerospace Equipment Technological Innovation Center, Ludong University
National Natural Science Foundation of China
Outstanding Youth Innovation Team Project of Shandong Higher Education Institution
Fund of Hubei Key Laboratory of Inland Shipping Technology
National Natural Science Foundation of China-Shandong Joint Fund
Shandong Major Innovation Project
Shandong Key development program academician team support project
Yantai Science and Technology Plan Project
Yantai New and Old Kinetic Energy Conversion Research Institute Scientific Research Project
Subject
Mechanical Engineering,Ocean Engineering
Cited by
1 articles.
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