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Citation:
 Yang Qu,Haixiang Xu,Wenzhao Yu,et al.Inverse Optimal Control for Speed-varying Path Following of Marine Vessels with Actuator Dynamics[J].Journal of Marine Science and Application,2017,(2):225-236.[doi:10.1007/s11804-017-1410-1]
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Inverse Optimal Control for Speed-varying Path Following of Marine Vessels with Actuator Dynamics

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Title:
Inverse Optimal Control for Speed-varying Path Following of Marine Vessels with Actuator Dynamics
Author(s):
Yang Qu12 Haixiang Xu12 Wenzhao Yu12 Hui Feng12 Xin Han12
Affilations:
Author(s):
Yang Qu12 Haixiang Xu12 Wenzhao Yu12 Hui Feng12 Xin Han12
1. Key Laboratory of High Performance Ship Technology of Ministry of Education, Wuhan University of Technology, Wuhan 430063, China;
2. School of Transportation, Wuhan University of Technology, Wuhan 430063, China
Keywords:
path followingline-of-sight guidanceoptimal controlbacksteppingactuator dynamics
分类号:
-
DOI:
10.1007/s11804-017-1410-1
Abstract:
A controller which is locally optimal near the origin and globally inverse optimal for the nonlinear system is proposed for path following of over actuated marine crafts with actuator dynamics. The motivation is the existence of undesired signals sent to the actuators, which can result in bad behavior in path following. To attenuate the oscillation of the control signal and obtain smooth thrust outputs, the actuator dynamics are added into the ship maneuvering model. Instead of modifying the Line-of-Sight (LOS) guidance law, this proposed controller can easily adjust the vessel speed to minimize the large cross-track error caused by the high vessel speed when it is turning. Numerical simulations demonstrate the validity of this proposed controller.

References:

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Memo

Memo:
Received date:2016-11-26;Accepted date:2017-1-19。
Foundation item:Supported by the National Natural Science Foundation of China under Grant Nos. 61301279, 51479158; and the Fundamental Research Funds for the Central Universities under Grant No. WUT: 163102006
Corresponding author:Haixiang Xu, Email: qukaiyang@163.com
Last Update: 2017-05-09