BUILD GLOBAL TRAKING SHIP MOTION CONTROLLER BASED ON THE SEPARATION PRINCIPLE OF MODEL PREDICTIVE CONTROLLER WITH INPUT CONSTRAINTS

Abstract

The article refers to the problem of analysis the three degrees of freedom (3 DOF) underactuated ship mathermatic model on horizontal plane. Research the output feedback model predictive control algorithms. On that basis, build the output feedback predictive controller model based on separation principle to control global tracking underactuated ship motion with input contraints