Robust Model Predictive Control for Marine Vessels

University essay from KTH/Skolan för elektroteknik och datavetenskap (EECS)

Abstract: This master thesis studies the implementation of a Robust MPC controllerin marine vessels on different tasks. A tube based MPC is designed based onsystem linearization around the target point guaranteeing local input to statestability of the respective linearized version of the original nonlinear system.The method is then applied to three different tasks: Dynamic positioningon which recursive feasibility of the nominal MPC is also guaranteed, Speed-Heading control and trajectory tracking with the Line of sight algorithm.Numerical simulation is then provided to show technique’s effectiveness.

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