Generalized Predictive Control with Constraints for Ship Autopilot
Predictive control has applied to variable fields successfully. By the limit of amplitude and rate, the rudder, as the autopilot’s actuator, has effects on the course control. And, ship autopilot is always exacerbated by environment, i.e. the effects of wind, sea-state, and tide. Autopilot should suppression of fast rudder motions which have hardly any positive effect on the steering behavior. This paper describes an autopilot that adapts the generalized predictive control (GPC) with constraints which takes the physic limits into account. ZONE control limiting the course in a bound improves the control performance of autopilot, disturbed by waves. The autopilot performs well which is valid in semi-physical platform experiment.
course control generalize predictive control zone control
Geng Tao Zhao Jin
Academy of Physics and Electroics, Henan University, Kaifeng 475004 Academy of Control Science and Engineering, Huazhong University of Science and Technology (HUST), Wu
国际会议
The 24th Chinese Control and Decision Conference (第24届中国控制与决策学术年会 2012 CCDC)
太原
英文
1560-1563
2012-05-23（万方平台首次上网日期，不代表论文的发表时间）