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Ship Dynamic Positioning Based on Nonlinear Model Predictive Control

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Advanced, Contemporary Control (PCC 2023)

Part of the book series: Lecture Notes in Networks and Systems ((LNNS,volume 709))

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Abstract

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.

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Correspondence to Krzysztof Jaros .

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Jaros, K., Smierzchalski, R., Witkowska, A. (2023). Ship Dynamic Positioning Based on Nonlinear Model Predictive Control. In: Pawelczyk, M., Bismor, D., Ogonowski, S., Kacprzyk, J. (eds) Advanced, Contemporary Control. PCC 2023. Lecture Notes in Networks and Systems, vol 709. Springer, Cham. https://doi.org/10.1007/978-3-031-35173-0_33

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