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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

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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
Path following of a model ship using modelpredictive control withexperimental verification


Outline
Outline

  • Abstract

  • Introduction

  • Ship dynamic model

  • Path following of the ship using MPC

  • INPA-SQP ALGORITHM

  • Experimental platform and experimental results

  • Conclusion


Abstract
Abstract

  • This paper presents an experimental implementation of a Model Predictive Control (MPC) strategy for path following on a model ship.

  • The implementation is performed experimentally via Integrated Perturbation Analysis and Sequential Quadratic Programming (InPA-SQP) algorithm.


Introduction
Introduction

  • MPC is an attractive candidate to achieve zero cross tracking error and heading angle error via minimizing a suitable cost function while taking into account physical constraints.

  • Quadratic Programming (InPA-SQP), the algorithm was developed to address the computational complexity of MPC.





Path following of the ship using mpc
Path following of the ship using MPC propeller speed to maintain constant vessel surge speed.


  • Consider the initial state of the system as 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.

  • Figure 2 shows the resulting open loop optimal control command for linear and nonlinear systems.


Inpa sqp algorithm
INPA-SQP ALGORITHM propeller speed to maintain constant vessel surge speed.


Experimental platform and experimental results
Experimental platform and experimental results propeller speed to maintain constant vessel surge speed.


Conclusion
Conclusion propeller speed to maintain constant vessel surge speed.

  • In this paper, a Model Predictive Controller is designed for path following of a model ship subject to input constraints.To implement MPC with a nonlinear model, the InPA-SQP method is introduced to solve the constrained optimal control problem. The InPA-SQP solver can meet the computational efficiency demand even for the nonlinear model considered in this paper. The effectiveness of the proposed MPC has been verified with experimental results.


Thanks for your attendance
Thanks for your attendance !! propeller speed to maintain constant vessel surge speed.

END


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