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This version is not peer-reviewed
Path-tracking MPC algorithm |
1. Design the target path
)
according to the two polar parameters and store the target path in discrete form. 2. Set the sampling period , predict step size , initial control quantity initial state variables 3. Set parameters such as the ship's mass, moment of inertia, damping coefficient, and additional mass. 4. Set parameters such as encounter angle, density, speed, drag coefficient, cross-sectional area, and ship length. 5. According to the environment disturbance model, set their respective sequences 6. Calculate the load of wave, current, and wind, and obtain the longitudinal disturbance load , the lateral disturbance load , and the yaw direction disturbance load Obtain the longitudinal disturbance lateral disturbance , and yaw direction disturbance Update parameters of ship motion equation and parameters of wave, current, and wind. Update the position equation Calculate the heading prediction state matrix predictive control matrix From the above prediction matrix, the prediction heading of the future is From the radial motion equation of the ship is obtained. According to the expression of , the cost function coefficient matrix is determined. Obtain the target pole diameter value from the target path . Let Cost function with constraints Gradient descent algorithm is used to solve the function with as the variable, is obtained. If the amount of control for the first few steps is too small, set the amount of control to a large value to speed up tracking. Take stored in variables Bring into the function to get the position at the next moment. Radial prediction position at the next moment Starting from the polar angle value of the target path, take continuously to obtain Construct the cost function of pole angle The quadratic programming algorithm is used to solve the quadratic function with as the variable to obtain the Take stored in variables Bring into the function to get the heading of the next moment. Subtract the from the , respectively, and divide the difference by to get the new Draw the target path, follow path, control quantity, etc. separately. |
Disclaimer/Publisher’s Note: The statements, opinions and data contained in all publications are solely those of the individual author(s) and contributor(s) and not of MDPI and/or the editor(s). MDPI and/or the editor(s) disclaim responsibility for any injury to people or property resulting from any ideas, methods, instructions or products referred to in the content. |
Submitted:
24 November 2023
Posted:
24 November 2023
You are already at the latest version
This version is not peer-reviewed
Submitted:
24 November 2023
Posted:
24 November 2023
You are already at the latest version
Path-tracking MPC algorithm |
1. Design the target path
)
according to the two polar parameters and store the target path in discrete form. 2. Set the sampling period , predict step size , initial control quantity initial state variables 3. Set parameters such as the ship's mass, moment of inertia, damping coefficient, and additional mass. 4. Set parameters such as encounter angle, density, speed, drag coefficient, cross-sectional area, and ship length. 5. According to the environment disturbance model, set their respective sequences 6. Calculate the load of wave, current, and wind, and obtain the longitudinal disturbance load , the lateral disturbance load , and the yaw direction disturbance load Obtain the longitudinal disturbance lateral disturbance , and yaw direction disturbance Update parameters of ship motion equation and parameters of wave, current, and wind. Update the position equation Calculate the heading prediction state matrix predictive control matrix From the above prediction matrix, the prediction heading of the future is From the radial motion equation of the ship is obtained. According to the expression of , the cost function coefficient matrix is determined. Obtain the target pole diameter value from the target path . Let Cost function with constraints Gradient descent algorithm is used to solve the function with as the variable, is obtained. If the amount of control for the first few steps is too small, set the amount of control to a large value to speed up tracking. Take stored in variables Bring into the function to get the position at the next moment. Radial prediction position at the next moment Starting from the polar angle value of the target path, take continuously to obtain Construct the cost function of pole angle The quadratic programming algorithm is used to solve the quadratic function with as the variable to obtain the Take stored in variables Bring into the function to get the heading of the next moment. Subtract the from the , respectively, and divide the difference by to get the new Draw the target path, follow path, control quantity, etc. separately. |
Disclaimer/Publisher’s Note: The statements, opinions and data contained in all publications are solely those of the individual author(s) and contributor(s) and not of MDPI and/or the editor(s). MDPI and/or the editor(s) disclaim responsibility for any injury to people or property resulting from any ideas, methods, instructions or products referred to in the content. |
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