Unscented Model Predictive Control (UMPC) for Ship Heading Control with Stochastic Disturbance

Baity Jannaty, Subchan, Tahiyatul Asfihani

2019

Abstract

This paper discussed a ship heading control problem with Unscented Model Predictive Control (UMPC). Rudder angle is controlled such that the heading angle follows the desired angle. This paper used model with three degrees of freedom, that is sway, yaw, and roll. UMPC is based on Model Predictive Control (MPC) for nonlinear system with stochastic disturbance. There are noises in the system model, therefore the system become dynamic stochastic with probabilistic constraint. These noises cause a changing in the state variable from a definite value to a distributed random variable. The objective function change from deterministic into the form of expectations of random variable. state variable constraints are changed from probabilistic to deterministic to address this issue. The objective function is changed into deterministic forms. System is linearized using stochastic linearization to approximate state transition. The Unscented Kalman Filter (UKF) is used as prediction process for MPC. The prediction process result is used by MPC algorithm by minimizing the objective function. The computation results showed that UMPC can handle problem with stochastic disturbance.

Paper Citation

in Harvard Style

Jannaty B., Subchan. and Asfihani T. (2019). Unscented Model Predictive Control (UMPC) for Ship Heading Control with Stochastic Disturbance. In Proceedings of the 4th International Conference on Marine Technology - Volume 1: senta, ISBN 978-989-758-557-9, pages 97-103. DOI: 10.5220/0010854200003261

in Bibtex Style

@conference{senta19,
author={Baity Jannaty and Subchan and Tahiyatul Asfihani},
title={Unscented Model Predictive Control (UMPC) for Ship Heading Control with Stochastic Disturbance},
booktitle={Proceedings of the 4th International Conference on Marine Technology - Volume 1: senta,},
year={2019},
pages={97-103},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0010854200003261},
isbn={978-989-758-557-9},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 4th International Conference on Marine Technology - Volume 1: senta,
TI - Unscented Model Predictive Control (UMPC) for Ship Heading Control with Stochastic Disturbance
SN - 978-989-758-557-9
AU - Jannaty B.
AU - Subchan.
AU - Asfihani T.
PY - 2019
SP - 97
EP - 103
DO - 10.5220/0010854200003261