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Abstract
The presented work explores the simulation test results of using nonlinear model predictive control algorithm for ship dynamic positioning. In the optimization task, a goal function with a penalty was proposed with a variable prediction step. The results of the proposed control algorithm were compared with backstepping and PID. The effect of estimation accuracy on the control quality with the implemented algorithms was investigated. The proposed version of the MPC-NO controller was shown to have better dynamic and static properties. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.
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Authors (3)
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Krzysztof Jaroś mgr inż.
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Keywords
Details
- Category:
- Monographic publication
- Type:
- rozdział, artykuł w książce - dziele zbiorowym /podręczniku w języku o zasięgu międzynarodowym
- Language:
- English
- Publication year:
- 2023
- Bibliographic description:
- Jaroś K., Śmierzchalski R., Witkowska A.: Ship Dynamic Positioning Based on Nonlinear Model Predictive Control// Advanced, Contemporary Control.XXI Polish Control Conference. Vol.2/ : Springer, 2023, s.350-359
- DOI:
- Digital Object Identifier (open in new tab) 10.1007/978-3-031-35173-0_33
- Sources of funding:
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- Statutory activity/subsidy
- Verified by:
- Gdańsk University of Technology
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