Autonomous electric sailboats (UESs), fully powered by wind energy, have board applications in ocean observation. However, the complex and unpredictable marine environment introduces significant disturbances and uncertainties into their motion control. The inherent robustness of standard model predictive control (MPC) cannot meet the requirement of stability under large disturbances. To address these challenges, a robust Lyapunov MPC (RLMPC) based on disturbance predictor (DP) is proposed. First, a DP is designed to forecast future disturbance behavior, and the predicted disturbances are incorporated into the nominal model of MPC, enhancing its ability to suppress time-varying disturbances. Additionally, the contraction constraint of the Lyapunov MPC (LMPC) optimization problem is formulated using an auxiliary control law based on the DP, ensuring closed-loop stability and improving control performance. Actuator saturation and incremental constraints are also considered. The cooperative path tracking strategy of sail and rudder based on DP-RLMPC not only ensures the sailing speed but also improves the path tracking accuracy. Finally, the effectiveness and robustness of the proposed algorithm are validated through simulations of UES operating in a complex marine environment and are compared with other advanced control strategies.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Robust Lyapunov Model Predictive Path Tracking Control for Autonomous Electric Sailboats Based on Disturbance Predictor


    Beteiligte:
    Xu, Peilong (Autor:in) / Qin, Hongde (Autor:in) / Xue, Yifan (Autor:in) / Wu, Zehao (Autor:in) / Zhao, Jing (Autor:in) / Xu, Qingsong (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    01.08.2025


    Format / Umfang :

    5284244 byte




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Lightning and sailboats

    Lundquist, S. | Tema Archiv | 1985



    Robust Model Predictive Control for Path Tracking of Autonomous Vehicle

    Yu, Jiaxing / Guo, Xuexun / Pei, Xiaofei et al. | British Library Conference Proceedings | 2019


    Robust Model Predictive Control for Path Tracking of Autonomous Vehicle

    Gong, Bian / Yu, Jiaxing / Zhu, Maolin et al. | SAE | 2019