Abstract
Model predictive control (MPC) algorithm based on state-space equations was applied to ship dynamic positioning control system. A state estimator was designed to solve the problem that not all the states used can be measured to improve the control accuracy of the system. Through simulation in MATLAB®, this paper analyzed and compared the model predictive controller with or without constraints and the state estimator. Simulation results on a supply ship verify the effectiveness of this proposed model predictive control algorithm based on state-space equations and show that the MPC controller with the state estimator can improve the control effect of dynamic positioning system of ships.
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