A5057446016- Fault Detection and Control Systems
- Advanced Control Systems Optimization
- Adaptive Control of Nonlinear Systems
- Robotic Path Planning Algorithms
- Maritime Navigation and Safety
- Ship Hydrodynamics and Maneuverability
Qingdao University of Science and Technology
2021-2022
Dynamic obstacle avoidance is essential for unmanned surface vehicles (USVs) to achieve autonomous sailing. This paper presents a dynamic navigation ship domain (DNSD)-based approach USVs in compliance with COLREGs. Based on the detected information, can not only infer collision risk, but also plan local path trajectory make appropriate maneuvers. Firstly, analytical DNSD model established taking into account parameters, maneuverability, sailing speed, and encounter situations regarding...
This paper presents a weight optimization method for nonlinear model predictive controller (NMPC) based on the genetic algorithm (GA) ship trajectory tracking. The coefficients Q and R of objective function in NMPC are obtained via real-time instead trial error method, which improves efficiency accuracy controller. In addition, targeted improvements made to internal crossover operator, mutation rate, rate algorithm. simulation comparison tracking between with real-time-optimized one constant...
This paper is devoted to the issue of computationally efficient and robust nonlinear model predictive control (NMPC) for ship dynamic positioning (DP) systems subjected input constraints unknown environmental disturbances. The Laguerre functions, typically applied linear systems, are introduced constrained NMPC design DP system reduce computational burden. unscented Kalman filter adopted estimate disturbances states; thus, disturbance estimates utilized as cancellation signal achieve...