Self-adaptive time domain MPC ship-shore collaborative energy-saving collision-preventing berthing method and system

The invention relates to a ship-shore collaborative energy-saving collision-preventing berthing method and system based on adaptive time domain network model predictive control (MPC). In model prediction control, a self-adaptive prediction time domain is designed. And an existing objective function of model predictive control is improved. The energy consumption is configured as one of objective functions in a non-linear model predictive control framework. Based on the frame, a new actual control and state constraint algorithm is designed to ensure energy conservation of the parking frame. Thus, an improved emperor penguin optimizer is used for conflict avoidance decisions. At each sampling moment, based on a nonlinear ship control model, a finite time domain optimal control problem is established. Under different interferences, a direct berthing technology and a U-turn approaching berthing technology are included, and different berthing methods are achieved through robust model predictive control. Close assoc