# 船舶運動及 控制 - PowerPoint PPT Presentation

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## 船舶運動及控制

### Outline

• Abstract

• Introduction

• Ship dynamic model

• Path following of the ship using MPC

• INPA-SQP ALGORITHM

• Experimental platform and experimental results

• Conclusion

### 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

• 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.

### Ship dynamic model

• The following model characterizes the

dynamics of the model ship.

• Assumption can be satisfied by properly controlling the propeller speed to maintain constant vessel surge speed.

• The nominal value u = 0.4 m/s. The state of the system is and δ is the rudder angle which acts as the only input to the system.

### Path following of the ship using MPC

• Consider the initial state of the system as

. 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.

### Conclusion

• 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.

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