A method of constructing a discrete adaptive control system for the vessel motion parameter with a predictive model based on an MPC controller using experimental data is shown. When modeling, restrictions on control and controlled variables were introduced into the structure of an acceptable set of program controls. The reduction of computational costs and the load on the control device is achieved by a sliding control signal in the sy stem, which is a measure of the adequacy of the forecast and actually observed data.
ship maneuvering, program control, adaptation, MPC controller, adaptation parameter, Trigg-Lich method, sliding control signal
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