Adaptive analytic model predictive controller for path following of underactuated ships

This An analytic model predictive control in parallel with the model reference adaptive control algorithm is presented for path following of underactuated ships along a predefined path at a constant forward speed with uncertain parameters. The ship dynamics is described by using Serret-Frenet frame, and the output-redefinition is introduced. As a result, the well-defined relative degree is guaranteed, and the original single-input multiple-output (SIMO) system is transformed into an equivalent single-input single-output (SISO) system. The analytic model predictive control provides a systematic method to get appropriate control parameters to guarantee the stability of the closed-loop system. The model reference adaptive control is used to identify the uncertain parameters. Convergence of the algorithm is proved by using Lyapunov method. Numerical simulations are provided to validate the proposed control law.