On Intelligent Ship Tracking Control Method Based on Hierarchical MPC

Abstract

With the gradual deepening of human exploration of the ocean, more and more attention has been paid to the intelligence of ships. The research on tracking control of intelligent ship is the most important. In order to solve the problem of intelligent ship tracking target ship motion in real time, a hierarchical model predictive control(H-MPC) tracking method based on the combination of model predictive control(MPC) and hierarchical control is proposed. The simulation results show that under the premise of external interference, the tracking error and tracking speed of H-MPC are obviously better than those under the control of MPC. Thus it can be seen, the designed H-MPC tracking method can make the intelligent ship track the target ship very well.