Intelligent ship technology is currently an international research hotspot, and model predictive control is widely used in the path-tracking control of intelligent vehicles. To construct an intelligent ship anti-disturbance path-tracking control method, firstly, an environmental disturbance model was constructed with the actual meteorological data of the target sea area. Secondly, the Fossen ship equation of motion is linearized and discretized as the ship motion model. Thirdly, the expression of the prediction equation is derived from the ship motion model. Fourthly, the cost function is constructed by using the polar diameter and polar angle values of the ship. Fifth, the power function in the cost function is replaced with an exponential function to obtain an improved cost function. Sixthly, according to the Lyapunov theory and the MPC terminal constraint theory, the stability of the improved cost function is verified. Seventh, different test paths are set up, the environmental disturbance model is taken as the external disturbance, the ship motion model, the prediction equation, and the improved cost function are used to design the anti-disturbance path-tracking control algorithm according to the model prediction control idea for simulation experiments. Finally, different MATLAB simulation results show that the improved cost function can resist disturbance of the external wave, current, and wind, and effectively track the target path. Therefore, this study provides a reference for improving the navigation safety of ship path-tracking.

In this paper, a method for the preparation of ultrasound-responsive microgels was developed based on RAFT-HDA dynamic covalent bonding. First, a styrenic cross-linked network was suc-cessfully prepared by DA reaction between phosphoryl dithioester and furan using double-ended BDEPDF as RAFT reagent mediated St polymerization as double-ended dienophile linker and co-polymer of FMA and St as dienophile. Subsequently, the microgel system was constructed by the HDA reaction between phosphoryl disulfide and furan groups using the copolymer of polyethylene glycol monomethyl ether acrylate (OEGMA) and FMA as the dienophore building block and hy-drophilic segment, and the polystyrene pro-dienophile linker as the cross-linker and hydrophobic segment. The number of furans in the dienophile chain and the length of the dienophile linker were regulated by RAFT polymerization to investigate the effects of single-molecule chain functional group degree (f), furan/dithioester ratio (r), and hydrophobic linker length (D) on the microgel system. These microgels can achieve the reversible transformation of materials under force re-sponsiveness, and the steps are simple and adaptive, which are expected to show important po-tential applications in the fields of biomedical materials and adaptive electrical materials.