Abstract
For the ship dynamic positioning (DP) system with limited communication resources under bounded disturbance, a double-mode robust event-triggered model predictive control (ET-MPC) method is proposed. Initially, the event-triggered mechanism is formulated by surveying the error between the system state and its optimal forecast. The controller only executes optimization when the error attains a certain triggering level. Next, the double-mode MPC control rule is devised according to the constraint conditions of the state equation. The control input is calculated by judging whether the current state information of the system is in the terminal domain. It can not only control the current state of the DP system, but also predict the future state of the system. The proposed ET-MPC method can ensure the robust constancy of the system, the channel occupation between the controller and the actuator is diminished, and the communication load is reduced. Finally, the effectiveness of the proposed control policy is verified by a comparative simulation of the model ship.
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