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| Content Provider | Springer Nature Link |
|---|---|
| Author | Wang, Xiao fei Zou, Zao jian Wang, Yang Li, Tie shan |
| Copyright Year | 2010 |
| Abstract | A path following controller is proposed to force an underactuated surface ship which is suffering from disturbance to follow a predefined path. The controller is based on analytic model predictive control and unscented Kalman filter (UKF) techniques. The analytic model predictive control provides a systematic method to get appropriate controller parameters to guarantee the stability of the closed-loop system, and the well-defined relative degree is guaranteed by introducing output-redefinition. The UKF is used to estimate the states and uncertain parameters due to time-varying added mass matrices. With help of the proposed UKF-based controller, the underactuated ship with time-varying parameters can follow a desired straight path. Simulation results are presented to demonstrate the effectiveness of the proposed controller. |
| Starting Page | 108 |
| Ending Page | 113 |
| Page Count | 6 |
| File Format | |
| ISSN | 10071172 |
| Journal | Journal of Shanghai Jiaotong University (Science) |
| Volume Number | 15 |
| Issue Number | 1 |
| e-ISSN | 19958188 |
| Language | English |
| Publisher | Shanghai Jiaotong University Press |
| Publisher Date | 2010-02-04 |
| Publisher Place | Heidelberg |
| Access Restriction | One Nation One Subscription (ONOS) |
| Subject Keyword | underactuated ship path following model predictive control unscented Kalman filter (UKF) Life Sciences Architecture Computer Science Materials Science Electrical Engineering |
| Content Type | Text |
| Resource Type | Article |
| Subject | Multidisciplinary |
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