Synchronization Control of Dynamic Positioning Ships Using Model Predictive Control

Underway replenishment is essential for ships performing long-term missions at sea, which can be formulated into the problem of leader-tracking configuration. Not only position and orientation but also velocities are required to controlled ensuring synchronization; additionally, control inputs constrained. On this basis, in paper, a novel synchronization controller on account model predictive (MPC) dynamic positioning (DP) devised achieve underway replenishment. Firstly, based MPC ensure not velocities; furthermore, it beneficial solution its advantages handling input constraints ignored most studies Secondly, neurodynamic optimization system applied implementation MPC, improve computational efficiency shorten simulation time. Thirdly, stability, frequently neglected by traditional ensured means adding terminal cost function exported from Lyapunov equation objective function. Finally, effectiveness proposed design illustrated extensive simulations.