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Model predictive controller for path following ships validated by experimental model tests He, H.; Van Zwijnsvoorde, T.; Lataire, E.; Delefortrie, G. (2023). Model predictive controller for path following ships validated by experimental model tests. Ocean Eng. 288(Part 2): 115971. https://dx.doi.org/10.1016/j.oceaneng.2023.115971
In: Ocean Engineering. Pergamon: Elmsford. ISSN 0029-8018; e-ISSN 1873-5258, meer
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Numerical modelling Physical modelling Marien/Kust |
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Abstract |
A series of free running model tests were conducted in the Towing Tank for Manoeuvres in Shallow Water (co-operation Flanders Hydraulics – Ghent University) in Ostend, Belgium, in order to evaluate the effectiveness and performance of the proposed controller, and to explore the impact of its parameter settings. The 20 m wide towing tank provides ample space to design complex paths for the ship to follow, which poses a significant challenge for the controller. Essential parameters in MPC, including weight factor for heading error, parameters of predictive model, prediction horizon, gain of adaptive prediction horizon and optimizer, are described in detail and their effects on the control outcomes are discussed with analysis of experimental results. The results demonstrate excellent control performance of the MPC, i.e. high tracking accuracy, smooth track transition, insensitivity to parameter setting and strong robustness in the presence of inherent model uncertainty, despite the simplifications made for practicality. |
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