Quasi Real-Time Optimal Control Scheme for Automatic Berthing

被引：47

作者：

Mizuno, Naoki ^{[1
]}

Uchida, Yosuke ^{[1
]}

Okazaki, Tadatsugi ^{[2
]}

机构：

[1] Nagoya Inst Technol, Showa Ku, Gokiso Cho, Nagoya, Aichi 4668555, Japan

[2] Tokyo Univ Marine Sci & Technol, Koto Ku, Tokyo, Japan

来源：

IFAC PAPERSONLINE | 2015年 / 48卷 / 16期

关键词：

ship control; automatic berthing; minimum-time control; multiple shooting method; nonlinear model predictive control; receding horizon control; SHIP;

D O I：

10.1016/j.ifacol.2015.10.297

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, a quasi real-time method applicable to minimum-time approaching control for automatic berthing is proposed. The proposed system is composed of a multiple shooting algorithm based optimal berthing solution generator and a nonlinear model predictive controller for tracking to the optimal trajectory. There are many researches for solving non-linear optimal control problem. but practically all the algorithms take long computational time to obtain the optimal solution compared with the controlling time. The multiple shooting algorithm can generates the approximate optimal solution considering the wind disturbance at the start point of the berthing, in a few minutes. It is about the same time for minimum-time berthing. From this point of view. the term-quasi real-time" is used in our paper title. Moreover, the nonlinear model is used for compensating the tracking error for optimal trajectory caused by uncertainty of the ship dynamics and time-varying disturbances etc. In order to investigate the effectiveness of the proposcd scheme. computer simulations and actual sea tests arc carried out using a training ship Shioji Maru. Copyright (C) 2015 IFAC (C) 2015, IFAC (International Federation or Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

引用

页码：305 / 312

页数：8

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