計測自動制御学会論文集
Online ISSN : 1883-8189
Print ISSN : 0453-4654
ISSN-L : 0453-4654
非線形Receding Horizon制御の自動操船システムへの適用
浜松 正典加賀谷 博昭河野 行伸
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2008 年 44 巻 8 号 p. 685-691

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Recently, maritime works, such as ocean observation or cable laying works, become efficient with the dynamic positioning control of the vessels. The conventional PID control is still useful but the performance is not enough for precise positioning or multiple waypoints tracking. In this paper, we present the application of real-time nonlinear Receding Horizon control for route tracking problem and control allocation problem for vessels equipped with azimuth thrusters. The performance and usefulness of the proposed method is verified with the actual cable laying works.

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