Disturbance Compensating Model Predictive Control With Application to Ship Heading Control
Abstract
To address the constraint violation and feasibility issues of model predictive control (MPC) for ship heading control in wave fields, a novel disturbance compensating MPC (DC-MPC) algorithm has been proposed to satisfy the state constraints in the presence of environmental disturbances. The capability of the novel DC-MPC algorithm is first analyzed. Then, the proposed DC-MPC algorithm is applied to solve the ship heading control problem, and its performance is compared with a modified MPC controller, which considers the estimated disturbance in the optimization directly. The simulation results show good performance of the proposed controller in terms of reducing heading error and satisfying yaw velocity and actuator saturation constraints. The DC-MPC algorithm has the potential to be applied to other motion control problems with environmental disturbances, such as flight, automobile, and robotics control.
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In practice, increasing prediction horizon appropriately will decrease tracking errors.
“However, in practice, increasing prediction horizon appropriately will decrease tracking errors [32].”
From Incremental Model Predictive Control Exploiting Time-Delay Estimation for a Robot Manipulator (2022) · cites this paper as [32]
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Incremental Model Predictive Control Exploiting Time-Delay Estimation for a Robot Manipulator
Wang, Y., Leibold, M., Lee, J., Ye, W., Xie, J., & Buss, M. (2022) · IEEE Transactions on Control Systems Technology · doi:10.1109/tcst.2022.3142629 · Cited by 52 · see citing works
Wu, J., Zeng, C., & Hu, Y. (2021) · International Journal of Control, Automation and Systems · doi:10.1007/s12555-020-0052-2 · Cited by 12 · see citing works
- Authors
- Li, Z., & Sun, J.
- Affiliations
- University of Michigan (US)
- ORCID
- Sun, Jing
- Venue
- IEEE Transactions on Control Systems Technology
- Published
- 2011
- ISSN
- 1063-6536 (ISSN-L)
- 1558-0865
- OpenAlex
- W2061611589
- Cited by
- 168
- References
- 16
- Citations by year
- 2026: 2 · 2025: 9 · 2024: 13 · 2023: 14 · 2022: 15 · 2021: 14 · 2020: 19 · 2019: 19 · 2018: 18 · 2017: 9 · 2016: 18 · 2015: 4 · 2014: 6 · 2013: 6 · 2012: 2
- FWCI
- 7.13
- Type
- journal article
- Language
- en
- Open access
- closed
- Locations
- IEEE Transactions on Control Systems Technology (publishedVersion)
- Topics
- Physical Sciences › Engineering › Control and Systems Engineering › Advanced Control Systems Optimization
- Physical Sciences › Engineering › Ocean Engineering › Ship Hydrodynamics and Maneuverability
- Physical Sciences › Engineering › Automotive Engineering › Vehicle Dynamics and Control Systems
- Keywords
- ship heading control, environmental disturbance, constraint violation, feasibility, state constraints, actuator saturation constraints, motion control
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