DESIGN CONTROL OF SURFACE MARINE VEHICLE USING DISTURBANCE COMPENSATING MODEL PREDICTIVE CONTROL (DC-MPC)

  • Sari Cahyaningtias School of Mathematical and Statistical Sciences, Arizona State University
  • Tahiyatul Asfihani Department of Mathematics, Faculty of Science and Technology
  • Subchan Subchan Department of Mathematics, Faculty of Science and Technology
DOI: https://doi.org/10.30598/barekengvol15iss1pp167-178
Keywords: Ship Manoeuvre, optimal control, Horizon prediction

Abstract

This research studied ship motion control by considering four degrees of freedom (DoF): yaw, roll, sway, and surge in which comprehensive mathematical modeling forming a nonlinear differential equation. Furthermore, this research also investigated solutions for fundamental yet challenging steering problems of ship maneuvering using advanced control method: Disturbance Compensating Model Predictive Control (DC-MPC) method, which based on Model Predictive Control (MPC). The DC-MPC allows optimizing a compensated control then consider sea waves as the environmental disturbances. Those sea waves influence the control and also becomes one of the constraints for the system. The simulation compared the varying condition of Horizon Prediction (Np) and another method showing that the DC-MPC can manage well the given disturbances while maneuvering in certain Horizon Prediction. The results revealed that the ship is stable and follows the desired trajectory

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Published
2021-03-01
How to Cite
[1]
S. Cahyaningtias, T. Asfihani, and S. Subchan, “DESIGN CONTROL OF SURFACE MARINE VEHICLE USING DISTURBANCE COMPENSATING MODEL PREDICTIVE CONTROL (DC-MPC)”, BAREKENG: J. Math. & App., vol. 15, no. 1, pp. 167-178, Mar. 2021.
Issue
Vol 15 No 1 (2021): BAREKENG: Jurnal Ilmu Matematika dan Terapan
Section
Articles

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