Track-keeping on waterways using model predictive control

Track-keeping control of inland vessels is presented. To realize track-keeping control on rivers the representation of a desired track by splines is introduced, suitable for describing the curved course on a waterway. First, a linear quadratic regulator combined with feedforward control is used to solve the control task. Second, nonlinear model predictive control is realized to guide a ship along the desired track. This special application od model predictive control is explained in more detail. Problems and advantages of the control methods are outlined. Both control methods have been implemented in an integrated navigation system for inland navigation, and have been tested by computer simulations and experiments on inland vessels