Design of generalised predictive controller for dynamic positioning system of surface ships

This paper presents a generalised predictive control algorithm (GPCA) for ship dynamic positioning (DP) controller using controlled autoregressive integral moving average (CARIMA) model to describe the controlled object. The proposed control system is capable of making position and heading of the ship converge to the desired values by choosing the error correction coefficient, parameter adaptation and feedback correction techniques. Firstly, the basic principle of the generalised predictive control algorithm is introduced. Secondly, the generalised predictive control algorithm is used to design the ship dynamic positioning controller. Finally, the simulation of the designed controller is given. Simulation results prove the effectiveness and robustness of the controller.