用于受限区域中欠驱动水面船舶的基于平面度的MPC
Flatness-based MPC for underactuated surface vessels in confined areas
摘要：
针对受限环境下欠驱动水面船舶的操纵问题，提出了一种两阶段模型预测控制器。对于一般的驾驶机动（第一阶段），不明确考虑船舶的几何形状，而在更受限制的区域（第二阶段），在系泊操纵中，船舶的几何形状是近似的，以确保避免碰撞。为了消除问题设置中的动力学约束，充分利用了全驱动系统的微分平坦性，并使用B样条函数将平坦输出参数化。欠驱动的行为被保留的不平等的约束，施加在不可控的输入。在努力解决MPC，静态非线性优化问题制定和可行性w.r.t.在配置点处确保障碍物和致动器约束。静态障碍物被认为是建设性的立体几何功能的MPC，它也考虑到风引起的干扰。
英文摘要：
A two-phase model predictive controller (MPC) is proposed for underactuated surface vessel operation in confined environments. For general driving maneuvers (phase one) the ship's geometry is not considered explicitly while in more restricted areas (stage two) which occur, e.g., in mooring maneuvers, the ship's geometry is approximated to ensure collision avoidance. To remove the dynamical constraint in the problem setup, the differential flatness of the fully actuated system is exploited and the flat outputs are parameterized using B-spline functions. Underactuated behavior is retained by means of inequality constraints that are imposed on the non-controllable input. In an effort to solve the MPC, a static nonlinear optimization problem is formulated and feasibility w.r.t. obstacles and actuator constraints is ensured at collocation points. Static obstacles are considered as constructive solid geometry functions in the MPC which also takes into account disturbances induced by wind.
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