Title :
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
fDate :
June 30 2010-July 2 2010
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;
Conference_Titel :
American Control Conference (ACC), 2010
Conference_Location :
Baltimore, MD
Print_ISBN :
978-1-4244-7426-4
DOI :
10.1109/ACC.2010.5530465
