The presented work explores the simulation test results of using nonlinear model predictive control algorithm for ship dynamic positioning. In the optimization task, a goal function with a penalty was proposed with a variable prediction step. The results of the proposed control algorithm were compared with backstepping and PID. The effect of estimation accuracy on the control quality with the implemented algorithms was investigated. The proposed version of the MPC-NO controller was shown to have better dynamic and static properties. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.
Authors
- mgr inż. Krzysztof Jaroś,
- prof. dr hab. inż. Roman Śmierzchalski link open in new tab ,
- dr hab. Anna Witkowska link open in new tab
Additional information
- DOI
- Digital Object Identifier link open in new tab 10.1007/978-3-031-35173-0_33
- Category
- Publikacja monograficzna
- Type
- rozdział, artykuł w książce - dziele zbiorowym /podręczniku w języku o zasięgu międzynarodowym
- Language
- angielski
- Publication year
- 2023
