Model Predictive Control (MPC) Dengan Constrain Untuk Pengaturan Tracking Pada Kapal Laut Pengangkut Barang (Cargo)

Auto pilot-based PID has been widely used as a tracking settings on sea transport. Limitations that occur in this sistem that is the parameter settings manually as compensation of disturbance that occurred. This causes considerable interference in the operation of the ship and take more time for delivery process. Based on the tracking control sistem built on a cargo ship based Model Predictive Control with the constraint as an alternative. The results showed after tested on some form of trajectories. Model predictive control with constraint gives a small error rate is less than 10% of the total mileage of the shi