Resumen
Underway replenishment is essential for ships performing long-term missions at sea, which can be formulated into the problem of leader-tracking configuration. Not only the position and orientation but also the velocities are required to be controlled for ensuring the synchronization; additionally, the control inputs are constrained. On this basis, in this paper, a novel synchronization controller on account of model predictive control (MPC) for dynamic positioning (DP) ships is devised to achieve underway replenishment. Firstly, a novel synchronization controller based on MPC is devised to ensure the synchronization of not only the position and orientation but the velocities; furthermore, it is a beneficial solution for its advantages in handling the control input constraints ignored in most studies of underway replenishment. Secondly, a neurodynamic optimization system is applied to the implementation of MPC, which can improve the computational efficiency and shorten the simulation time. Thirdly, stability, frequently neglected by traditional MPC, is ensured by the means of adding a terminal cost function exported from the Lyapunov equation into the objective function. Finally, the effectiveness and advantages of the proposed control design are illustrated by extensive simulations.