Path following of a model ship using Model Predictive Control with experimental verification

Author

Ghaemi, R. ; Soryeok Oh ; Jing Sun

Author_Institution

Dept. of Electr. Eng. & Comput. Sci., Univ. of Michigan, Ann Arbor, MI, USA

fYear

2010

fDate

June 30 2010-July 2 2010

Firstpage

5236

Lastpage

5241

Abstract

This paper presents an experimental implementation of a Model Predictive Control (MPC) strategy for path following on a model ship. The objective of the proposed algorithm is to control cross-tracking error and heading angle using the rudder control. The MPC is designed and implemented using both linearized and nonlinear model. The implementation is performed experimentally via Integrated Perturbation Analysis and Sequential Quadratic Programming (InPA-SQP) algorithm. The InPA-SQP solver can meet the computational efficiency demand and the effectiveness of the designed MPC has been verified with experimental results.

Keywords

control system synthesis; path planning; perturbation techniques; predictive control; quadratic programming; ships; cross-tracking error control; experimental verification; heading angle control; integrated perturbation analysis; marine surface vessels; model predictive control strategy; model ship; path following; rudder control; sequential quadratic programming algorithm; Algorithm design and analysis; Control systems; Error correction; Global Positioning System; Marine vehicles; Optimal control; Predictive control; Predictive models; Propellers; Sun;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference (ACC), 2010

Conference_Location

Baltimore, MD

ISSN

0743-1619

Print_ISBN

978-1-4244-7426-4

Type

conf

DOI

10.1109/ACC.2010.5530465

Filename

5530465