Method of Ship Formation Based on Generalized Predictive Control

doi:10.3969/j.issn.1006-2475.2014.05.008

Abstract

Abstract: To do a deep research about multi-shipping formation cooperation, we studied the formation control of shipping. To predict the ideal path curves in the movement of the shipping, generalized predictive control method was used. Then the motion control strategy of shipping was brought out. A model of shipping formation control was created in the Cartesian coordinate system using the leader-follower formation method. Based on this model, we built a series of vessels bound track, and got control strategy for follower members. In the simulation experiments we added simulated storm disturbance during the movement of shipping. In the end, the running track of the fleet was obtained.


Key words: generalized predictive control, ship formation, leader-follower, storm disturbance


CLC Number:

TP273

JIANG Feng, XIAO Jian-mei, WANG Xi-huai. Method of Ship Formation Based on Generalized Predictive Control[J]. Computer and Modernization, doi: 10.3969/j.issn.1006-2475.2014.05.008.

References ［19］

［1］	Balch T, Arkin R C.Behavior based formation control for multirobot teams［J］. IEEE Transactions on Robotics and Automation, 1998,14(6):926-939.
［2］	Lawton J R T, Beard R W, Young B J. A decentralized approach to formation maneuvers［J］. IEEE Transactions on Robotics and Automation, 2003,19(6):993-941.
［3］	孙海玲,马保离. 不对称欠驱动水面船舶的全局渐近镇定与跟踪［C］// Proceedings of the 31st Chinese Control Conference. 2012:4372-4377.
［4］	Ihle I A F, Jouffroy J, Fossen T I. Robust formation control of marine craft using Lagrange multipliers［J］. Group Coordination and Cooperative Control, 2006,336:113-129.
［5］	Dong W, Farrell J A. Formation control of multiple underactuated surface vessels［J］. IET Control Theory & Applications, 2008,2(12):1077-1085.
［6］	彭周华. 舰船编队的鲁棒自适应控制［D］. 大连:大连海事大学， 2011.
［7］	〖JP2〗Movahhed M, Dadashi S, Danesh M. Adaptive sliding mode control for autonomous surface vessel ［C］// Proceedings of the 2011 IEEE International Conference on Mechatronics. 2011:522-527.
［8］	Cheng J, Yi J, Zhao D. Design of a sliding mode controller for trajectory tracking problem of marine vessels［J］. IET Control Theory & Applications, 2007,1(1):233-237.
［9］	Arrichiello F, Chiaverini S, Fossen T I. Formation control of underactuated surface vessels using the null-space-based behavioral control［C］// Proceedings of 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems. 2006:5942-5947.〖JY〗〖HT5”K〗(下转第41页)〖HT〗〖ZK)〗〖FL)0〗
［10］	Ghommem J, Mnif F,Poisson G, et al. Nonlinear formation control of a group of underactuated ships ［C］// Oceans 2007. 2007:1-8.
［11］	王伟,杨建军. 广义预测控制:理论、算法与应用［J］.控制理论与应用, 1997,14(6):777-786.
［12］	Richalet J, Rault A, Testud J L, et al. Model predictive heuristic control: Applications to industrial processes ［J］. Automatica, 1987,14(5):413-428.
［13］	席裕庚,李德伟,林姝. 模型预测控制——现状与挑战［J］. 自动化学报, 2013,39(3):222-236.
［14］	Yan J, Bitmead R R. Coordinated control and information architecture［C］// Proceedings of 42nd IEEE Conference on Decision and Control. 2003,4:3919-3923.
［15］	任德华,卢桂章. 对队形控制的思考［J］. 控制与决策. 2005,20(6):601-606.
［16］	Li Xiaohai, Xiao Jizhong, Tan Jingdong. Modeling and controller design for multiple mobile robots formation control［C］// IEEE International Conference on Robotics and Biomimetics, 2004. 2004:838-843.
［17］	李国勇. 智能预测控制及其Matlab实现(第2版)［M］. 北京:电子工业出版社, 2010:262-266.
［18］	吴丽丽. 基于滑模变结构控制的船舶航向控制［D］. 上海：上海海事大学， 2012.
［19］	周耀庭,邓智良,蒋雯. 船舶航向操纵参数自整定模糊控制方针［J］. 计算机仿真， 1996,13(3):15-21,7.

[1]	SHEN Zhi, LI Yuan. Nonlinear Process Fault Detection Based on KPCA and SSA Optimized SVM [J]. Computer and Modernization, 0, (): 15-20.
[2]	SHEN Zhi, LI Yuan. Nonlinear Process Fault Detection Based on KPCA and SSA Optimized SVM [J]. Computer and Modernization, 2023, 0(06): 15-20.
[3]	LEI Jian-sheng1, SU Xiao2, JIN Ming-lei1. A Distributed Sustainable Integrated Automated Testing Platform [J]. Computer and Modernization, 2020, 0(04): 14-.
[4]	CHEN Yan-lin, LI Zhi-hua， XIE Xue-han. Hydraulic Turbine Governing System Based on Neural Network Inverse Control [J]. Computer and Modernization, 2020, 0(01): 6-.
[5]	GUO Xin, YAN Lian-shan, LI Hong-zhe, ZHANG Xiao-wei. High-risk Warehouse Wireless Monitor System Based on #br# Software Defined Wireless Sensor Network [J]. Computer and Modernization, 2018, 0(10): 84-.
[6]	JIANGSu-ying. FractionalOrderControlBasedonImprovedPSOAlgorithmforHeatingSystem [J]. Computer and Modernization, 2018, 0(07): 39-.
[7]	SU Bai-yan1,2, TANG Min2, NI Jian-jun2. Design of Wireless Control System About Spray Line Based on PLC [J]. Computer and Modernization, 2017, 0(12): 117-121.
[8]	XIAO Ling-lu1,2. Design of Distributed Water-saving Irrigation System Based on ZigBee [J]. Computer and Modernization, 2017, 0(7): 62-67.
[9]	CHEN Cheng. Water-saving Irrigation Remote Monitoring System Based on Web [J]. Computer and Modernization, 2017, 0(6): 80-83.
[10]	GAO Yan, LIU Hong-xia. A Crop Soil Moisture Control Algorithm Based on PIDNN [J]. Computer and Modernization, 2017, 0(6): 122-126.
[11]	ZHAO Yuan. Design of Intelligent Control System for Greenhouse Environment Based on PLC [J]. Computer and Modernization, 2016, 0(4): 123-126.
[12]	WANG Yang1,2, CHEN Hai-yan1,2, PENG Yan-bing1,2. Research on Discourse Partition of Fuzzy Time Series Models [J]. Computer and Modernization, 2015, 0(11): 22-26+121.
[13]	CHEN Xue-song, ZHANG Hui-yu, ZHAO Zi-hao. Solar Energy Monitoring System for Oil Pumping Units Based on Single-chip Microcomputer [J]. Computer and Modernization, 2015, 0(8): 57-60.
[14]	SHI Yanlong1， XU Daqin2. Design and Implementation of Urban Wisdom Drainage System [J]. Computer and Modernization, 2015, 0(7): 112-.
[15]	WU Xin-sheng. PID Neural Network Optimizing Control Based on Particle Swarm Optimization in Paper Process [J]. Computer and Modernization, 2015, 0(3): 71-74,79.