Extended state Kalman filter-based path following control of underactuated autonomous vessels

doi:10.1177/0142331221994410

CSpace

	Extended state Kalman filter-based path following control of underactuated autonomous vessels
	Zhang, Yi 1; Xue, Wenchao 2; Sun, Li 1; Shen, Jiong 1
	2021-04-06
发表期刊	TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL
ISSN	0142-3312
页码	11
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.
关键词	Path following underactuated autonomous vessel model predictive control extended state Kalman filter
DOI	10.1177/0142331221994410
收录类别	SCI
语种	英语
资助项目	National Natural Science Foundation of China (NSFC)[51576041]
WOS研究方向	Automation & Control Systems ; Instruments & Instrumentation
WOS类目	Automation & Control Systems ; Instruments & Instrumentation
WOS记录号	WOS:000682918800001
出版者	SAGE PUBLICATIONS LTD
引用统计
文献类型	期刊论文
条目标识符	http://ir.amss.ac.cn/handle/2S8OKBNM/59042
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.Southeast Univ, Sch Energy & Environm, Minist Educ, Key Lab Energy Thermal Convers & Control, 2 Sipailou, Nanjing 210096, Jiangsu, Peoples R China 2.Chinese Acad Sci, Acad Math & Syst Sci, NCMIS, LSC, Beijing, 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.