Nonlinear predictive PID control designfor ship manoeuvering

In this paper a predictive Proportional-Integral- Derivative (PID) controller is proposed for ship Manoeuvring. PID control system is still being considered as a robust and reliable design by the industry and the control community. A feedback linearization along with predictive PID technique has been adopted here for ship Manoeuvring control design. In this paper, the predictive PID gains are obtained by minimizing the norm difference between control signal obtained from Generalized Predictive Control (GPC) and predictive PID formulation. The main advantage of the proposed method is that the input constraints as well as the future trajectories can be easily incorporated in control design. Simulation results are presented to demonstrate the performance of the proposed method