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Path following control of underactuated ships based on nonswitch analytic model predictive control
Received:2008/12/23  Revised:2009/7/11
Keywords:Underactuated ship  Path following  Model predictive control  Ill-defined relative degree
Fund Project:This work was supported by the National Natural Science Foundation of China (No.50779033) and the National High Technology Research and Development Program (863 Program) of China (No.2007AA11Z250).
AuthorInstitutionE-mail
Xiaofei WANG School of Naval Architecture, Ocean and Civil Engineering, Shanghai Jiao Tong University, Shanghai 200240, China wxfwind@163.com 
Zaojian ZOU School of Naval Architecture, Ocean and Civil Engineering, Shanghai Jiao Tong University, Shanghai 200240, China; State Key Laboratory of Ocean Engineering, Shanghai Jiao Tong University, Shanghai 200030, China zjzou@sjtu.edu.cn 
Tieshan LI School of Naval Architecture, Ocean and Civil Engineering, Shanghai Jiao Tong University, Shanghai 200240, China  
Weilin LUO School of Naval Architecture, Ocean and Civil Engineering, Shanghai Jiao Tong University, Shanghai 200240, China  
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Abstract:
      A path following controller is developed for underactuated ships with only surge force and yaw moment available to follow a predefined path. The proposed controller is based on nonswitch analytic model predictive control. It is shown that the optimal control law for a nonlinear path following system with ill-defined relative degree is continuous and nonsingular. The problem of ill-defined relative degree is solved. The path-following ability of the nonlinear system is guaranteed. Numerical simulations are provided to demonstrate the effectiveness of the proposed control law.
Xiaofei WANG,Zaojian ZOU,Tieshan LI and Weilin LUO.Path following control of underactuated ships based on nonswitch analytic model predictive control[J].Journal of Control Theory and Applications,2010,8(4):429~434.
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