Generalized predictive control with constraints for ship autopilot

Predictive control has applied to variable fields successfully. By the limit of amplitude and rate, the rudder, as the autopilot´s actuator, has effects on the course control. And, ship autopilot is always exacerbated by environment, i.e. the effects of wind, sea-state, and tide. Autopilot should suppression of fast rudder motions which have hardly any positive effect on the steering behavior. This paper describes an autopilot that adapts the generalized predictive control (GPC) with constraints which takes the physic limits into account. ZONE control limiting the course in a bound improves the control performance of autopilot, disturbed by waves. The autopilot performs well which is valid in semi-physical platform experiment.