Abstract
This paper researches how to design a constrained model predictive control (MPC) algorithm based dynamic positioning (DP) control system of a supply ship considering system constraints. First, a linear low-frequency motion model with three degrees of freedom necessary for the MPC predictive model is established. Secondly, an MPC algorithm based DP controller is designed considering input constraints on both amplitude and rate. Finally, the simulation is carried out to verify the effectiveness of the constrained MPC controllers. The simulation result shows effectiveness of the constrained MPC controller shows better performance due to its direct constraint-handling ability.
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