Adaptive GPC Algorithm on Ship Heading Control

R. Ferreiro García and X.C. Pardo Martínez (Spain)


GPC, Gain Scheduling, Ship model identification, Performance criterion, Weighting matrix


In this paper a methodology to implement and operate an adaptive controller based in a GPC algorithm is described. The system comprises a data acquisition system associated to a software based tool on a PC computer. Such instruments measure yaw motions and compute relevant process variables to identify ship model parameters in order to correct GPC control algorithm according a user criterion by means of a gain scheduling strategy

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