Berthing Trajectory Tracking of Underactuated Surface Vehicle Based on NMPC and Position Estimation
In order to realize waypoint-based automatic berthing alongside or astern, a generation algorithm of dynamic virtual ships is proposed to guide the underactuated surface vehicle (USV). In this paper, a nonlinear model predictive control (NMPC) problem is set up with multiple shooting method, which l...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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IEEE
2024-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/10489956/ |
| _version_ | 1827290028581060608 |
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| author | Zuxin Wu Baigang Zhao Xu Han Di Lu |
| author_facet | Zuxin Wu Baigang Zhao Xu Han Di Lu |
| author_sort | Zuxin Wu |
| collection | DOAJ |
| description | In order to realize waypoint-based automatic berthing alongside or astern, a generation algorithm of dynamic virtual ships is proposed to guide the underactuated surface vehicle (USV). In this paper, a nonlinear model predictive control (NMPC) problem is set up with multiple shooting method, which lifts the system and improves convergency. Measuring error and disturbances are reduced by moving horizon estimation (MHE) where the weights of sensors are auto-tuned according to their variation. Simulations of berthing alongside and astern of ship BAY CLASS illustrates the position error is smaller than 0.6 m and course error is smaller than 0.5°. Compared to adaptive sliding mode control, proposed method has advantage on state smoothness and the control performance meets the requirements of berthing accuracy. |
| first_indexed | 2024-04-24T12:01:09Z |
| format | Article |
| id | doaj.art-b21d43578e8a4f939c2d366bf5932e9c |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-04-24T12:01:09Z |
| publishDate | 2024-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-b21d43578e8a4f939c2d366bf5932e9c2024-04-08T23:00:36ZengIEEEIEEE Access2169-35362024-01-0112489514895910.1109/ACCESS.2024.338453610489956Berthing Trajectory Tracking of Underactuated Surface Vehicle Based on NMPC and Position EstimationZuxin Wu0https://orcid.org/0000-0002-1265-3979Baigang Zhao1https://orcid.org/0000-0001-7486-3448Xu Han2https://orcid.org/0000-0001-8723-7040Di Lu3Navigation College, Dalian Maritime University, Dalian, ChinaNavigation College, Dalian Maritime University, Dalian, ChinaNavigation College, Dalian Maritime University, Dalian, ChinaTransport Planning and Research Institute, Ministry of Transport, Beijing, ChinaIn order to realize waypoint-based automatic berthing alongside or astern, a generation algorithm of dynamic virtual ships is proposed to guide the underactuated surface vehicle (USV). In this paper, a nonlinear model predictive control (NMPC) problem is set up with multiple shooting method, which lifts the system and improves convergency. Measuring error and disturbances are reduced by moving horizon estimation (MHE) where the weights of sensors are auto-tuned according to their variation. Simulations of berthing alongside and astern of ship BAY CLASS illustrates the position error is smaller than 0.6 m and course error is smaller than 0.5°. Compared to adaptive sliding mode control, proposed method has advantage on state smoothness and the control performance meets the requirements of berthing accuracy.https://ieeexplore.ieee.org/document/10489956/USVtrajectory trackingberthingmotion planningNMPCMHE |
| spellingShingle | Zuxin Wu Baigang Zhao Xu Han Di Lu Berthing Trajectory Tracking of Underactuated Surface Vehicle Based on NMPC and Position Estimation IEEE Access USV trajectory tracking berthing motion planning NMPC MHE |
| title | Berthing Trajectory Tracking of Underactuated Surface Vehicle Based on NMPC and Position Estimation |
| title_full | Berthing Trajectory Tracking of Underactuated Surface Vehicle Based on NMPC and Position Estimation |
| title_fullStr | Berthing Trajectory Tracking of Underactuated Surface Vehicle Based on NMPC and Position Estimation |
| title_full_unstemmed | Berthing Trajectory Tracking of Underactuated Surface Vehicle Based on NMPC and Position Estimation |
| title_short | Berthing Trajectory Tracking of Underactuated Surface Vehicle Based on NMPC and Position Estimation |
| title_sort | berthing trajectory tracking of underactuated surface vehicle based on nmpc and position estimation |
| topic | USV trajectory tracking berthing motion planning NMPC MHE |
| url | https://ieeexplore.ieee.org/document/10489956/ |
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