船舶運動及 控制. 指導教授 : 曾 慶 耀 學 號 :10267036 學 生 : 潘 維 剛. Path following of a model ship using model predictive control with experimental verification. Outline. Abstract Introduction Ship dynamic model Path following of the ship using MPC INPA-SQP ALGORITHM
指導教授:曾 慶 耀學 號:10267036學 生:潘 維 剛
dynamics of the model ship.
Assumption can be satisfied by properly controlling the propeller speed to maintain constant vessel surge speed.
. To compare the linear and nonlinear model,we solve the optimization problem P(x0) with N = 200 and sampling time 0.1, for both linear and nonlinear systems.