Model predictive controller for path following ships validated by experimental model tests Ghent University
This paper introduces a practical model predictive controller for surface ships’ path following, with validation through experimental tests. Model predictive control (MPC) is a state-of-the-art modern control technique, providing local optimal control action based on prediction and reference. In this approach, a simple predictive model based upon the Nomoto model is employed to forecast the (near) future ship positions, while the Serret-Frenet ...