2023
DOI: 10.20944/preprints202311.1575.v1
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Ship Path-Tracking with Real Disturbance and Exponential Cost Function

Lihao Zhang,
Yun Li,
Xiang Luo
et al.

Abstract: Intelligent ship technology is currently an international research hotspot, and model predictive control is widely used in the path-tracking control of intelligent vehicles. To construct an intelligent ship anti-disturbance path-tracking control method, firstly, an environmental disturbance model was constructed with the actual meteorological data of the target sea area. Secondly, the Fossen ship equation of motion is linearized and discretized as the ship motion model. Thirdly, the expression of the predictio… Show more

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