Acceso al sitio web del Consejo de Políticas de Infraestructura

   
Redirigiendo al acceso original de articulo en 23 segundos...
ARTÍCULO
TITULO

Real-Time Weight Optimization of a Nonlinear Model Predictive Controller Using a Genetic Algorithm for Ship Trajectory Tracking

Dunjing Yu    
Fang Deng    
Hongyan Wang    
Xiuhui Hou    
Hualin Yang and Tikun Shan    

Resumen

This paper presents a weight optimization method for a nonlinear model predictive controller (NMPC) based on the genetic algorithm (GA) for ship trajectory tracking. The weight coefficients Q and R of the objective function in NMPC are obtained via the real-time optimization of the genetic algorithm instead of the trial and error method, which improves the efficiency and accuracy of the controller. In addition, targeted improvements are made to the internal crossover operator, mutation operator, crossover rate, and mutation rate of the genetic algorithm. The simulation comparison of trajectory tracking between NMPC with real-time-optimized weight coefficients and the one with constant coefficients is performed. Finally, the simulation result shows that the controller with real-time-optimized weight coefficients has a better trajectory tracking effect than that with constant weight coefficients.

PÁGINAS
pp. 0 - 0

 Artículos similares

       
 
Sirui Chen, Yuming Tian and Lingling An    
Order scheduling is of a great significance in the internet and communication industries. With the rapid development of the communication industry and the increasing variety of user demands, the number of work orders for communication operators has grown... ver más
Revista: Algorithms

 
Ruoyu Chen and Ying Chen    
To detect a desired underwater target quickly and precisely, a real-time sonar-based target detection system mounted on an autonomous underwater helicopter (AUH) using an improved convolutional neural network (CNN) is proposed in this paper. YOLOv5 is in... ver más

 
Guoqing Zhang, Shilin Yin, Chenfeng Huang and Weidong Zhang    
This paper focuses on the intervehicle security-based robust formation control of unmanned surface vehicles (USVs) to implement the formation switch mission. In the scheme, a novel adaptive potential ship (APS)-based guidance principle is developed to pr... ver más

 
Ping Wu, Linxi Yang, Wangxin Li, Jiamin Huang and Yidong Xu    
The challenging nature of nearshore tunnel construction environments introduces a multitude of potential hazards, consequently escalating the likelihood of incidents such as water influx. Existing construction safety risk management methodologies often d... ver más

 
Yiming Hu, Bin Wen, Yongsheng Ye and Chao Yang    
Insulators find extensive use across diverse facets of power systems, playing a pivotal role in ensuring the security and stability of electrical transmission. Detecting insulators is a fundamental measure to secure the safety and stability of power tran... ver más
Revista: Applied Sciences