LYAPUNOV HIERARCHICAL CONTROL BASED ON NONLINEAR MODEL PREDICTIVE CONTROL METHOD FOR SURFACE VESSEL UNDER WIND DISTURBANCE

Abstract

A novel robust control strategy is developed to minimize the trajectory deviation of an autonomous surface vessel system under wind disturbance. First, the robust controller is designed based on the backstepping technique and sliding mode control theory. Analyzing the stability of the robust controller based on the nonlinear Lyapunov candidate function is integrated into the solver of the model predictive control method, thereby constructing a trajectory tracking control system for the ship. The control system is demonstrated to not only guarantee the stability of the model predictive controller under wind disturbance but also satisfy safety criteria during the operation process thanks to control inputs and states' system restrictions. Numerical simulation is implemented to illustrate the efficiency of the proposed scheme, which is compared with the other nonlinear controller.