Path following of a model ship using Model Predictive Control with experimental verification

Path following of a model ship using Model Predictive Control with experimental verification

This paper presents an experimental implementation of a Model Predictive Control (MPC) strategy for path following on a model ship. The objective of the proposed algorithm is to control cross-tracking error and heading angle using the rudder control. The MPC is designed and implemented using both li...

Ausführliche Beschreibung

Gespeichert in:
Bibliographische Detailangaben
Hauptverfasser: Ghaemi, R, Soryeok Oh, Jing Sun
Format: Tagungsbericht
Sprache:eng
Schlagworte:
Algorithm design and analysis
Control systems
Error correction
Global Positioning System
Marine vehicles
Optimal control
Predictive control
Predictive models
Propellers
Sun
Online-Zugang:Volltext bestellen
Tags: Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
container_end_page 5241
container_issue
container_start_page 5236
container_title
container_volume
creator Ghaemi, R
Soryeok Oh
Jing Sun
description This paper presents an experimental implementation of a Model Predictive Control (MPC) strategy for path following on a model ship. The objective of the proposed algorithm is to control cross-tracking error and heading angle using the rudder control. The MPC is designed and implemented using both linearized and nonlinear model. The implementation is performed experimentally via Integrated Perturbation Analysis and Sequential Quadratic Programming (InPA-SQP) algorithm. The InPA-SQP solver can meet the computational efficiency demand and the effectiveness of the designed MPC has been verified with experimental results.
doi_str_mv 10.1109/ACC.2010.5530465
format Conference Proceeding
fullrecord <record><control><sourceid>ieee_6IE</sourceid><recordid>TN_cdi_ieee_primary_5530465</recordid><sourceformat>XML</sourceformat><sourcesystem>PC</sourcesystem><ieee_id>5530465</ieee_id><sourcerecordid>5530465</sourcerecordid><originalsourceid>FETCH-LOGICAL-c222t-7e642c78167279afa9a6726081b546bda7e200efd3454a403aa470522666c9f73</originalsourceid><addsrcrecordid>eNo1kEtPwzAQhM1LIi29I3HxH0hZv-NjFfGSiugBbkjVNrGpURpXiWnh3xOgnPbbGe1qNIRcMpgyBvZ6VpZTDsOmlACp1REZMcmlNJIrfUwyLkyRq0KzEzKxpvj3tDwlGRgpcqaZPSejvn8HYNZqyMjrAtOa-tg0cR_aNxo9RbqJtWtovw5b-tH_qI-_wqJzdahS2DlaxjZ1saH7MFy7z63rwsa1CRu6G9CHClOI7QU589j0bnKYY_Jye_Nc3ufzp7uHcjbPK855yo3TkldDYG24sejR4kAaCrZSUq9qNI4DOF8LqSRKEIjSgOJca11Zb8SYXP39Dc655XbIgt3X8tCS-AY06FbN</addsrcrecordid><sourcetype>Publisher</sourcetype><iscdi>true</iscdi><recordtype>conference_proceeding</recordtype></control><display><type>conference_proceeding</type><title>Path following of a model ship using Model Predictive Control with experimental verification</title><source>IEEE Electronic Library (IEL) Conference Proceedings</source><creator>Ghaemi, R ; Soryeok Oh ; Jing Sun</creator><creatorcontrib>Ghaemi, R ; Soryeok Oh ; Jing Sun</creatorcontrib><description>This paper presents an experimental implementation of a Model Predictive Control (MPC) strategy for path following on a model ship. The objective of the proposed algorithm is to control cross-tracking error and heading angle using the rudder control. The MPC is designed and implemented using both linearized and nonlinear model. The implementation is performed experimentally via Integrated Perturbation Analysis and Sequential Quadratic Programming (InPA-SQP) algorithm. The InPA-SQP solver can meet the computational efficiency demand and the effectiveness of the designed MPC has been verified with experimental results.</description><identifier>ISSN: 0743-1619</identifier><identifier>ISBN: 9781424474264</identifier><identifier>ISBN: 1424474264</identifier><identifier>EISSN: 2378-5861</identifier><identifier>EISBN: 1424474256</identifier><identifier>EISBN: 1424474272</identifier><identifier>EISBN: 9781424474271</identifier><identifier>EISBN: 9781424474257</identifier><identifier>DOI: 10.1109/ACC.2010.5530465</identifier><language>eng</language><publisher>IEEE</publisher><subject>Algorithm design and analysis ; Control systems ; Error correction ; Global Positioning System ; Marine vehicles ; Optimal control ; Predictive control ; Predictive models ; Propellers ; Sun</subject><ispartof>Proceedings of the 2010 American Control Conference, 2010, p.5236-5241</ispartof><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c222t-7e642c78167279afa9a6726081b546bda7e200efd3454a403aa470522666c9f73</citedby></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/5530465$$EHTML$$P50$$Gieee$$H</linktohtml><link.rule.ids>309,310,780,784,789,790,2056,27923,54918</link.rule.ids><linktorsrc>$$Uhttps://ieeexplore.ieee.org/document/5530465$$EView_record_in_IEEE$$FView_record_in_$$GIEEE</linktorsrc></links><search><creatorcontrib>Ghaemi, R</creatorcontrib><creatorcontrib>Soryeok Oh</creatorcontrib><creatorcontrib>Jing Sun</creatorcontrib><title>Path following of a model ship using Model Predictive Control with experimental verification</title><title>Proceedings of the 2010 American Control Conference</title><addtitle>ACC</addtitle><description>This paper presents an experimental implementation of a Model Predictive Control (MPC) strategy for path following on a model ship. The objective of the proposed algorithm is to control cross-tracking error and heading angle using the rudder control. The MPC is designed and implemented using both linearized and nonlinear model. The implementation is performed experimentally via Integrated Perturbation Analysis and Sequential Quadratic Programming (InPA-SQP) algorithm. The InPA-SQP solver can meet the computational efficiency demand and the effectiveness of the designed MPC has been verified with experimental results.</description><subject>Algorithm design and analysis</subject><subject>Control systems</subject><subject>Error correction</subject><subject>Global Positioning System</subject><subject>Marine vehicles</subject><subject>Optimal control</subject><subject>Predictive control</subject><subject>Predictive models</subject><subject>Propellers</subject><subject>Sun</subject><issn>0743-1619</issn><issn>2378-5861</issn><isbn>9781424474264</isbn><isbn>1424474264</isbn><isbn>1424474256</isbn><isbn>1424474272</isbn><isbn>9781424474271</isbn><isbn>9781424474257</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2010</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNo1kEtPwzAQhM1LIi29I3HxH0hZv-NjFfGSiugBbkjVNrGpURpXiWnh3xOgnPbbGe1qNIRcMpgyBvZ6VpZTDsOmlACp1REZMcmlNJIrfUwyLkyRq0KzEzKxpvj3tDwlGRgpcqaZPSejvn8HYNZqyMjrAtOa-tg0cR_aNxo9RbqJtWtovw5b-tH_qI-_wqJzdahS2DlaxjZ1saH7MFy7z63rwsa1CRu6G9CHClOI7QU589j0bnKYY_Jye_Nc3ufzp7uHcjbPK855yo3TkldDYG24sejR4kAaCrZSUq9qNI4DOF8LqSRKEIjSgOJca11Zb8SYXP39Dc655XbIgt3X8tCS-AY06FbN</recordid><startdate>201006</startdate><enddate>201006</enddate><creator>Ghaemi, R</creator><creator>Soryeok Oh</creator><creator>Jing Sun</creator><general>IEEE</general><scope>6IE</scope><scope>6IH</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIO</scope></search><sort><creationdate>201006</creationdate><title>Path following of a model ship using Model Predictive Control with experimental verification</title><author>Ghaemi, R ; Soryeok Oh ; Jing Sun</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c222t-7e642c78167279afa9a6726081b546bda7e200efd3454a403aa470522666c9f73</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2010</creationdate><topic>Algorithm design and analysis</topic><topic>Control systems</topic><topic>Error correction</topic><topic>Global Positioning System</topic><topic>Marine vehicles</topic><topic>Optimal control</topic><topic>Predictive control</topic><topic>Predictive models</topic><topic>Propellers</topic><topic>Sun</topic><toplevel>online_resources</toplevel><creatorcontrib>Ghaemi, R</creatorcontrib><creatorcontrib>Soryeok Oh</creatorcontrib><creatorcontrib>Jing Sun</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan (POP) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP) 1998-present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Ghaemi, R</au><au>Soryeok Oh</au><au>Jing Sun</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Path following of a model ship using Model Predictive Control with experimental verification</atitle><btitle>Proceedings of the 2010 American Control Conference</btitle><stitle>ACC</stitle><date>2010-06</date><risdate>2010</risdate><spage>5236</spage><epage>5241</epage><pages>5236-5241</pages><issn>0743-1619</issn><eissn>2378-5861</eissn><isbn>9781424474264</isbn><isbn>1424474264</isbn><eisbn>1424474256</eisbn><eisbn>1424474272</eisbn><eisbn>9781424474271</eisbn><eisbn>9781424474257</eisbn><abstract>This paper presents an experimental implementation of a Model Predictive Control (MPC) strategy for path following on a model ship. The objective of the proposed algorithm is to control cross-tracking error and heading angle using the rudder control. The MPC is designed and implemented using both linearized and nonlinear model. The implementation is performed experimentally via Integrated Perturbation Analysis and Sequential Quadratic Programming (InPA-SQP) algorithm. The InPA-SQP solver can meet the computational efficiency demand and the effectiveness of the designed MPC has been verified with experimental results.</abstract><pub>IEEE</pub><doi>10.1109/ACC.2010.5530465</doi><tpages>6</tpages></addata></record>
fulltext fulltext_linktorsrc
identifier ISSN: 0743-1619
ispartof Proceedings of the 2010 American Control Conference, 2010, p.5236-5241
issn 0743-1619
2378-5861
language eng
recordid cdi_ieee_primary_5530465
source IEEE Electronic Library (IEL) Conference Proceedings
subjects Algorithm design and analysis
Control systems
Error correction
Global Positioning System
Marine vehicles
Optimal control
Predictive control
Predictive models
Propellers
Sun
title Path following of a model ship using Model Predictive Control with experimental verification
url https://sfx.bib-bvb.de/sfx_tum?ctx_ver=Z39.88-2004&ctx_enc=info:ofi/enc:UTF-8&ctx_tim=2025-01-13T16%3A28%3A59IST&url_ver=Z39.88-2004&url_ctx_fmt=infofi/fmt:kev:mtx:ctx&rfr_id=info:sid/primo.exlibrisgroup.com:primo3-Article-ieee_6IE&rft_val_fmt=info:ofi/fmt:kev:mtx:book&rft.genre=proceeding&rft.atitle=Path%20following%20of%20a%20model%20ship%20using%20Model%20Predictive%20Control%20with%20experimental%20verification&rft.btitle=Proceedings%20of%20the%202010%20American%20Control%20Conference&rft.au=Ghaemi,%20R&rft.date=2010-06&rft.spage=5236&rft.epage=5241&rft.pages=5236-5241&rft.issn=0743-1619&rft.eissn=2378-5861&rft.isbn=9781424474264&rft.isbn_list=1424474264&rft_id=info:doi/10.1109/ACC.2010.5530465&rft_dat=%3Cieee_6IE%3E5530465%3C/ieee_6IE%3E%3Curl%3E%3C/url%3E&rft.eisbn=1424474256&rft.eisbn_list=1424474272&rft.eisbn_list=9781424474271&rft.eisbn_list=9781424474257&disable_directlink=true&sfx.directlink=off&sfx.report_link=0&rft_id=info:oai/&rft_id=info:pmid/&rft_ieee_id=5530465&rfr_iscdi=true