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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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指導教授:曾 慶 耀學 號:10267036學 生:潘 維 剛

  • Abstract
  • Introduction
  • Ship dynamic model
  • Path following of the ship using MPC
  • Experimental platform and experimental results
  • Conclusion
  • 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.
  • 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.

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.

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.
  • 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.