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논문 목록
UKF Based Nonlinear Offset-free Model Predictive Control for Ship Dynamic Positioning under Stochastic Disturbances
저자
Fang Deng, Hua
학술지명
International Journal of Control, Automation, and Systems
출판/발행연도
2019
주제
요약
본 논문은 확률적 섭동 및 입력 제약 조건 하에서 선박 동적 위치 제어 시스템의 참조 궤적 추적을 위한 비선형 오프셋 프리 모델 예측 제어(MPC) 방안을 제시합니다. 두 가지 오프셋 프리 MPC 전략이 제안되었으며, 특히 델타 입력 방식이 확률적 섭동에 대한 강건성이 뛰어나 제어 성능이 우수함을 시뮬레이션을 통해 입증했습니다.
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