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All Journal BAREKENG: Jurnal Ilmu Matematika dan Terapan
Sari Cahyaningtias
School of Mathematical and Statistical Sciences, Arizona State University
Computer Science & IT Control & Systems Engineering Economics, Econometrics & Finance Energy Engineering Mathematics Mechanical Engineering Physics Transportation

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DESIGN CONTROL OF SURFACE MARINE VEHICLE USING DISTURBANCE COMPENSATING MODEL PREDICTIVE CONTROL (DC-MPC) Sari Cahyaningtias; Tahiyatul Asfihani; Subchan Subchan
BAREKENG: Jurnal Ilmu Matematika dan Terapan Vol 15 No 1 (2021): BAREKENG: Jurnal Ilmu Matematika dan Terapan
Publisher : PATTIMURA UNIVERSITY

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (758.212 KB) | DOI: 10.30598/barekengvol15iss1pp167-178

Abstract

This research studied ship motion control by considering four degrees of freedom (DoF): yaw, roll, sway, and surge in which comprehensive mathematical modeling forming a nonlinear differential equation. Furthermore, this research also investigated solutions for fundamental yet challenging steering problems of ship maneuvering using advanced control method: Disturbance Compensating Model Predictive Control (DC-MPC) method, which based on Model Predictive Control (MPC). The DC-MPC allows optimizing a compensated control then consider sea waves as the environmental disturbances. Those sea waves influence the control and also becomes one of the constraints for the system. The simulation compared the varying condition of Horizon Prediction (Np) and another method showing that the DC-MPC can manage well the given disturbances while maneuvering in certain Horizon Prediction. The results revealed that the ship is stable and follows the desired trajectory
Co-Authors Subchan Subchan Tahiyatul Asfihani