Chinese Journal of Ship Research, Volume. 20, Issue 1, 203(2025)
Precise path following of underactuated ship based on neurodynamic optimization and model predictive control
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Table 1. Main parameters for simulation experiments
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系统类型 参 数 制导律 $ \mathit{\Delta}=4 $ $\lambda = 10$ $\gamma = 0.001$ $ \sigma=0.000\ 1 $ 控制器 ${N_{\rm{p}}} = 40$ ${N_{\rm{c}}} = 20$ ${\boldsymbol{Q}} = {{\boldsymbol{I}}_{{N_{\rm{p}}} \times {N_{\rm{p}}}}} \otimes \left[ ${\boldsymbol{R}} = {{\boldsymbol{I}}_{{N_{\rm{c}}} \times {N_{\rm{c}}}}} \otimes \left[
Table 2. Calculation time of straight line path following for underactuated ship
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工况 起始点 Fmincon 求解器[ 13 ]/s神经动态优化 求解器/s 直线路径跟踪 $\left( 0\;\;30 \right)$ 239.8 2.6 $\left(0\;\;70 \right)$ 242.1 2.7
Table 3. Calculation time of curved line path following for the underactuated ship
View tableView in ArticleTable 3. Calculation time of curved line path following for the underactuated ship
工况 起始点 Fmincon 求解器[ 13 ]/s神经动态优化 求解器/s 曲线路径跟踪 $\left(0\;\;50\right)$ 1 858 19.3 $\left( 0\;\;100 \right)$ 1 805 18.8
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Junqiao SHI, Cheng LIU, Weili GUO, Ting SUN, Xuegang WANG, Feng XU. Precise path following of underactuated ship based on neurodynamic optimization and model predictive control[J]. Chinese Journal of Ship Research, 2025, 20(1): 203
Paper Information
Category: Motion Control
Received: Nov. 5, 2024
Accepted: Dec. 26, 2024
Published Online: Mar. 13, 2025
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