Model Predictive Control of the ship’s motion in presence of wind disturbances

Model Predictive Control is a control strategy which can be used for ships guidance and trajectory tracking problems. Linear multidimensional MPC controller is used to control the transversal, longitudinal and rotational velocities of a ship. Control system based on the MPC algorithms is robust to wind disturbances and thus can be used in real sailing conditions. It is proved by the computer simulations results and described in detail in this publication. Whole control system was designed and simulation studies were carried out on the basis of the real floating training ship model. A Model Predictive Controller synthesis steps, including linearization of the nonlinear ship model in the vicinity of operating point, are shown.