Quasi-Infinite Horizon Model Predictive Control with Fixed-Time Disturbance Observer for Underactuated Surface Vessel Path Following

Abstract

As a flexible, autonomous and intelligent motion platform, underactuated surface vessels (USVs) are expected to be an ideal means of transport in dangerous and complex marine environments. The success and efficiency of maritime missions performed by USVs depend on their ability to accurately follow paths and remain robust against wind and wave disturbances. To this end, this paper focuses on accurate and robust path following control for USVs under wave disturbances. Model predictive control with a quasi-infinite horizon is proposed which converts the objective function from an infinite horizon to an approximate finite horizon, providing the convergence performance in long prediction horizons and reducing the computation load explicitly. To enhance robustness against disturbances, a fixed-time disturbance observer is applied to estimate the time-varying and bounded disturbances. The estimated value is provided to the controller input to form a robust control framework with disturbance feedforward compensation and predictive control feedback correction, which is substantially different from existing works. The convergence and optimality of the proposed algorithm are presented mathematically. Finally, we demonstrate the advantages of the algorithm in both theory and simulation.

Keywords

• underactuated surface vessels
• path following
• model predictive control
• quasi-infinite horizon
• fixed-time disturbance observer