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Open AccessArticle

The Bilinear Model Predictive Method-Based Motion Control System of an Underactuated Ship with an Uncertain Model in the Disturbance

Faculty of Electrical-Electronic Engineering, Vietnam Maritime University, Haiphong 181810, Vietnam
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Processes 2019, 7(7), 445; https://doi.org/10.3390/pr7070445
Received: 18 June 2019 / Revised: 9 July 2019 / Accepted: 10 July 2019 / Published: 12 July 2019
(This article belongs to the Special Issue Optimization for Control, Observation and Safety)
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Abstract

Ship transportation plays an increasingly important role in and accounts for a large proportion of cargo transport. Therefore, it is necessary to improve the quality of the trajectory control system of the ship for improving the transport efficiency and ensuring maritime safety. This paper deals with the advanced control system for the three-degrees-of-freedom model of the underactuated ship in the condition of uncertain disturbance. Based on the three-degrees-of-freedom model of the underactuated ship, the authors built a bilinear model of the ship by linearizing each nonlinear model section. Then, the authors used the state estimator to compensate for uncertain components and random disturbances in the model. Finally, the authors built the output-feedback predictive controller based on the channel-separation principle combined with direct observation of the continuous model for controlling the motion of the underactuated ship in the case of uncertain disturbance and the bound control signals. The result is that the movement quality of the underactuated ship is very good in the context of uncertain disturbance and bound control signals. View Full-Text
Keywords: underactuated ship; bilinear model predictive controller; directly observer; uncertain estimator underactuated ship; bilinear model predictive controller; directly observer; uncertain estimator
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Nguyen, H.-Q.; Tran, A.-D.; Nguyen, T.-T. The Bilinear Model Predictive Method-Based Motion Control System of an Underactuated Ship with an Uncertain Model in the Disturbance. Processes 2019, 7, 445.

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