Extended state Kalman filter-based path following control of underactuated autonomous vessels
文献类型：期刊论文
| 作者 | Zhang, Yi2; Xue, Wenchao1; Sun, Li2; Shen, Jiong2 |
| 刊名 | TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL
 |
| 出版日期 | 2021-04-06 |
| 页码 | 11 |
| 关键词 | Path following underactuated autonomous vessel model predictive control extended state Kalman filter |
| ISSN号 | 0142-3312 |
| DOI | 10.1177/0142331221994410 |
| 英文摘要 | Path following control of underactuated autonomous vessels remains a challenging issue in recent years due to its inherent underactuation and nonlinearities as well as the widely existing disturbances in the marine environment. In order to accommodate all the difficulties simultaneously, a novel extended state Kalman filter, which adopts the idea of extended state observer in estimating and compensating system lumped disturbance and optimizes the filter gain in a real-time fashion using Kalman filter technique, is constructed to estimate system states and disturbances in the presence of model uncertainties and measurement noise. Based on the estimated states and disturbances, an enhanced model predictive controller is proposed to steer the underactuated autonomous vessels along a predefined path at a desired speed after considering system state and input constraints. Simulation results have proved the superiority of extended state Kalman filter over traditional extended state observer and extended Kalman filter under various disturbance and noise scenarios. Moreover, the comparison results with conventional proportion-integration-differentiation controller have demonstrated the feasibility and efficacy of the proposed extended state Kalman filter-based model predictive controller in both set-point tracking and disturbance rejection. |
| 资助项目 | National Natural Science Foundation of China (NSFC)[51576041] |
| WOS研究方向 | Automation & Control Systems ; Instruments & Instrumentation |
| 语种 | 英语 |
| WOS记录号 | WOS:000682918800001 |
| 出版者 | SAGE PUBLICATIONS LTD |
| 源URL | [http://ir.amss.ac.cn/handle/2S8OKBNM/59041]  |
| 专题 | 中国科学院数学与系统科学研究院 |
| 通讯作者 | Shen, Jiong |
| 作者单位 | 1.Chinese Acad Sci, Acad Math & Syst Sci, NCMIS, LSC, Beijing, Peoples R China 2.Southeast Univ, Sch Energy & Environm, Minist Educ, Key Lab Energy Thermal Convers & Control, 2 Sipailou, Nanjing 210096, Jiangsu, Peoples R China |
| 推荐引用方式 GB/T 7714 | Zhang, Yi,Xue, Wenchao,Sun, Li,et al. Extended state Kalman filter-based path following control of underactuated autonomous vessels[J]. TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL,2021:11. |
| APA | Zhang, Yi,Xue, Wenchao,Sun, Li,&Shen, Jiong.(2021).Extended state Kalman filter-based path following control of underactuated autonomous vessels.TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL,11. |
| MLA | Zhang, Yi,et al."Extended state Kalman filter-based path following control of underactuated autonomous vessels".TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL (2021):11. |
入库方式： OAI收割
来源：数学与系统科学研究院
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