It is common that underactuated surface vessels sailing on the sea suffer from strong external sea disturbances, such that the large roll motion can be probably caused resulting to the bad performance of path following. In order to realize the coordinate control of the rudder roll stabilization and path following, a robust controller with roll constraints is designed by combining predictive control with disturbance observer. Firstly, the rudder angle operating range is divided in the Serret–Frenet coordination frame, and then linear models corresponding to different equilibrium can be established with heading control and roll dynamics. Secondly, considering external disturbance and unmodeled error as the lumped disturbances, the disturbance observer can be utilized to achieve the real-time feedforward compensation leading to the improved system robustness. Thirdly, the output redefinition method is adopted to transfer the original system into a new minimum phase system. Based on the receding horizon and state prediction strategies of the predictive control, the analytical control law can be obtained, and the linear programming method is used to guarantee the roll constraint for the simplified computational burden. Lastly, the simulations have been carried out to show the good performance of the proposed algorithm with the heading control and roll reduction.

中文翻译：

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具有扰动补偿预测控制的欠驱动水面船舶的路径跟踪

在海上航行的欠驱动水面船舶普遍受到强烈的外部海浪干扰，从而可能导致较大的横摇运动，从而导致路径跟随性能不佳。为实现舵横摇稳定与路径跟随的协调控制，将预测控制与扰动观测器相结合，设计了具有横摇约束的鲁棒控制器。首先在Serret-Frenet坐标系中划分舵角操作范围，然后结合航向控制和横摇动力学建立对应于不同平衡的线性模型。其次，考虑外部扰动和未建模误差作为集中扰动，干扰观测器可用于实现实时前馈补偿，从而提高系统的鲁棒性。第三，采用输出重定义方法将原系统转换为新的最小相位系统。基于预测控制的后退水平和状态预测策略，可以得到解析控制律，并采用线性规划方法来保证滚动约束，以简化计算负担。最后，进行了仿真以表明所提出的算法在航向控制和侧倾减小方面的良好性能。可以得到解析控制律，并采用线性规划方法来保证滚动约束，以简化计算负担。最后，进行了仿真以表明所提出的算法在航向控制和侧倾减小方面的良好性能。可以得到解析控制律，并采用线性规划方法来保证滚动约束，以简化计算负担。最后，进行了仿真以表明所提出的算法在航向控制和侧倾减小方面的良好性能。