中文摘要：

文章针对欠驱动船舶的路径跟踪提出了一种解析解模型预测控制方法,使其能够驶入预先规划好的航行路径。采用了Serret-Frenet坐标系来描述船舶运动,并且引入了重定义输出,由此避免了模型预测控制中的病态相关度问题,同时将原单输入多输出系统转化为单输入单输出系统。文中的算法提供了一种获得合适的控制参数的系统方法,保证了闭环系统的稳定性。数值仿真结果验证了该控制器的有效性。

英文摘要：

An analytic model predictive controller is presented for path following of an underactuated ship maneuvering along a predefined path.The mathematical model of ship motion is described by us-ing Serret-Frenet frame and the output-redefinition is introduced.As a result,the problem of ill-defined relative degree is avoided,and the original single-input multiple-output（SIMO） system is transformed into an equivalent single-input single-output（SISO） system.The proposed algorithm provides a systematic method to get appropriate controller parameters to guarantee the stability of the closedloop system.Numerical simulations demonstrate the validity of the proposed controller.